SISTEM KENDALI MANIPULATOR ROBOT SEBAGAI PENYELEKSI BENDA BERWARNA
SKRIPSI Diajukan Untuk Memenuhi Persyaratan Guna Meraih Gelar Sarjana Strata 1 Teknik Elektro Universitas Muhammadiyah Malang
Disusun Oleh : MOCHAMAD SIHABUL MILLAH 201010130311087
JURUSAN ELEKTRO FAKULTAS TEKNIK UNIVERSITAS MUHAMMADIYAH MALANG 2015
KATA PENGANTAR
Dengan memanjatkan puji syukur kehadirat Allah SWT. Atas limpahan rahmat dan hidayah-NYA sehingga peneliti dapat menyelesaikan skripsi yang berjudul : “SISTEM KENDALI MANIPULATOR ROBOT SEBAGAI PENYELEKSI BENDA BERWARNA ” Di dalam tulisan ini disajikan pokokpokok bahasan yang meliputi perancangan dan pembuatan robot manipulator, solusi kinematika dengan pendekatan trigonometri dan pengendalian robot manipulator untuk melakukan pekerjaan yang berulang-ulang. Peneliti menyadari sepenuhnya bahwa dalam penulisan skripsi ini masih banyak kekurangan dan keterbatasan. Oleh karena itu penulis mengharapkan saran yang membangun agar tulisan ini bermanfaat bagi perkembangan ilmu pengetahuan dan perkembangan teknologi kedepan. .
Malang, Januari 2015
Penulis
DAFTAR ISI LEMBAR JUDUL ............................................................................................... i LEMBAR PERSETUJUAN................................................................................ ii LEMBAR PENGESAHAN ...............................................................................iii LEMBAR PERNYATAAN ............................................................................... iv ABSTRAK .......................................................................................................... v ABSTRACT ....................................................................................................... vi LEMBAR PERSEMBAHAN ........................................................................... vii KATA PENGANTAR .....................................................................................viii DAFTAR ISI ...................................................................................................... ix DAFTAR GAMBAR ........................................................................................ xii DAFTAR TABEL ............................................................................................ xiv BAB I PENDAHULUAN 1.1 Latar Belakang ....................................................................................... 1 1.2 Rumusan Masalah .................................................................................. 1 1.3 Batasan Masalah .................................................................................... 2 1.4 Tujuan .................................................................................................... 2 1.5 Metodologi ............................................................................................. 2 1.6 Sistematika Penulisan ............................................................................ 3 BAB II LANDASAN TEORI 2.1 Pendahuluan .......................................................................................... 5 2.2 Klasifikasi Kinematika Robot ................................................................ 5 2.2.1 Articulated Configuration (RRR) ................................................ 6 2.2.2 Spherical Configuration (RRP) .................................................... 6 2.2.3 Scara Configuration (RRP) .......................................................... 7 2.2.4 Cylindrical Configuration (RPP) ................................................. 7 2.2.5 Cartesian Configuration (PPP)..................................................... 8 2.2.6 Wrist dan End-Effector ................................................................ 8 2.3 Kinematika Robot .................................................................................. 9 2.3.1 Analisis Kinematika Robot .......................................................... 9 2.3.2 Gerakan dan transformasi homogen ............................................ 9 2.3.3 Metode denavit-Hartenberg(D-H) ............................................. 11 2.4 Arduino ............................................................................................... 13
2.4.1 Arduino Uno .............................................................................. 14 2.4.2 Mikrokontroler AVR ATMEGA328 ......................................... 17 2.5 LDR (Light Dependent Resistor) ......................................................... 21 2. 6 LED (Light Emitting Dioda) ............................................................... 22 2. 7 Motor Servo ....................................................................................... 24 2. 8 Motor DC ........................................................................................... 25 2.8.1 Pengertian Motor DC ................................................................. 25 2.8.2 Prinsip Dasar Motor Arus Searah .............................................. 26 2.9 Konveyor .............................................................................................. 26 BAB III PERANCANGAN SISTEM 3.1 DIAGRAM BLOK DAN CARA KERJA ALAT ............................... 28 3.2 PERANCANGAN MEKANIK ........................................................... 29 3.2.1 Perancangan Lengan Robot ....................................................... 29 3.2.2 Perancangan Konveyor .............................................................. 31 3.2.3 Penentuan Koordinat ................................................................. 32 3.2.4 Solusi Persamaan Kinematika.................................................... 33 3.3 PERANCANGAN HARDWARE ....................................................... 39 3.3.1 Perancangan Rangkaian Sensor Warna ..................................... 39 3.3.2 Perancangan Rangkaian Catu Daya ........................................... 41 3.3.3 Perancangan Driver Motor Konveyor ........................................ 42 3.3.4 Konfigurasi Board Arduino Dan Servo ..................................... 44 3.4 PERANCANGAN SOFTWARE ......................................................... 44 3.4.1 Pembuatan Simulator Kinematika Maju .................................... 47 3.4.2 Pembuatan Simulator Kinematika Balik ................................... 48 BAB IV IMPLEMENTASI DAN PENGUJIAN 4.1 Pengujian Hardware ............................................................................. 50 4.1.1 Pengujian rangkaian sensor warna ............................................. 50 4.1.2 Pengujian Driver Motor Konveyor ............................................ 54 4.1.3 Pengujian motor Servo HS-422. ............................................... 55 4.2 Pengujian Software. ............................................................................. 57 4.2.1 Pengujian Kinematik Balik. ....................................................... 57 4.3 Pengujian Keseluruhan ........................................................................ 62
BAB V PENUTUP 5.1 Kesimpulan .......................................................................................... 65 5.2 Saran .................................................................................................... 65 DAFTAR PUSTAKA ...................................................................................... 66 LAMPIRAN ..................................................................................................... 67
DAFTAR GAMBAR
Gambar 2. 1 Konfigurasi Artikulasi Robot .........................................................6 Gambar 2. 2 Konfigurasi spherical manipulator .................................................7 Gambar 2. 3 Konfigurasi Scara ...........................................................................7 Gambar 2. 4 Konfigurasi cylindris manipulator .................................................8 Gambar 2. 5 Konfigurasi cartesian manipulator .................................................8 Gambar 2. 6 Struktur spherical wrist ..................................................................9 Gambar 2. 7 Blok Diagram Arduino Board ........................................................14 Gambar 2. 8 Board Arduino Uno ........................................................................15 Gambar 2. 9 Architecture ATMEGA328 ............................................................20 Gambar 2. 10 Simbol LDR .................................................................................21 Gambar 2. 11 Grafik hubungan antara resistansi dan intensitas cahaya .............22 Gambar 2. 12 Simbol Dan Bentuk Fisik LED ....................................................22 Gambar 2. 13 Rangkaian Dasar Menyalakan LED (Light Emitting Dioda) .......23 Gambar 2. 14 Motor Servo..................................................................................24 Gambar 2. 15 Sistem Mekanik Motor Servo ......................................................24 Gambar 2. 16 Konveyor ......................................................................................27 Gambar 3. 1 Blok Diagram Robot Lengan .........................................................28 Gambar 3. 2 Konfigurasi Sambungan Lengan Robot Manipulator ....................29 Gambar 3. 3 Desain Mekanik..............................................................................30 Gambar 3. 4 Bentuk Konveyor ...........................................................................31 Gambar 3. 5 Penentuan Sumbu Koordinat Pada Robot Lengan .........................32 Gambar 3. 6 Pemodelan Lengan Robot Pada Kordinat Kartesian. .....................33 Gambar 3. 7Pemodelan 2 Dimensi Kinematik Maju. .........................................34 Gambar 3. 8 Fungsi Tangen ................................................................................36 Gambar 3. 9 Pemodelan Lengan 2D ..................................................................36 Gambar 3. 10 Segitiga ABC................................................................................37 Gambar 3. 11 Lintasan Gerakan..........................................................................39 Gambar 3. 12 Rangkaian Sensor Warna .............................................................40 Gambar 3. 13 Rangkaian Catu Daya. ..................................................................41 Gambar 3. 14 Modul DC to DC Step Down .......................................................41
Gambar 3. 15 Rangkaian Driver Motor Konveyor .............................................43 Gambar 3. 16 Flowchart Rancangan Robot Lengan Secara Umum ...................45 Gambar 3. 17 Listing Program Pemilihan Warna Objek ....................................46 Gambar 3. 18 Listing Program Menggerakan Servo ..........................................47 Gambar 3. 19 Simulator Kinematika Maju .........................................................48 Gambar 3. 20 Simulator Kinematika Balik .........................................................49 Gambar 4. 1 Blok diagram rangkaian Sensor Warna ..........................................51 Gambar 4. 2 Pengujian Sensor Warna ................................................................51 Gambar 4. 3 Blok Diagram Rangkaian Driver Motor.........................................54 Gambar 4. 4 Pengujian Driver Motor .................................................................55 Gambar 4. 5 Blok Diagram Rangkaian Driver Motor.........................................56 Gambar 4. 6 Pengujian Motor Servo...................................................................56 Gambar 4. 7 Diagram Blok Pengujian Sistem Robot Lengan ............................57 Gambar 4. 8 Pengujian sumbu X saat Y dan Z bernilai 0 ...................................59 Gambar 4. 9 Pengujian sumbu Z saat X= 7 dan Y=0 ........................................59 Gambar 4. 10 Lengan robot saat mengambil benda ............................................61 Gambar 4. 11 Lengan robot saat meletakan benda .............................................61 Gambar 4. 12 Diagram Blok Pengujian Sistem Robot Lengan ..........................62
DAFTAR TABEL Tabel 2. 1 Transformasi Koordinat Dalam Bentuk Matrik ..............................11 Tabel 3. 1 Konfigurasi Robot lengan ..................................................................30 Tabel 3. 2 Sudut Kebebasan Persendian .............................................................31 Tabel 3. 3 Kebutuhan Arus Nominal. .................................................................42 Tabel 3. 4 Konfigurasi Pin Arduino Dan Motor Servo .......................................44 Tabel 4. 1 Kalibrasi Sensor Warna biru ..............................................................52 Tabel 4. 2 Kalibrasi Sensor Warna Hijau............................................................52 Tabel 4. 3 Pengujian Warna Biru .......................................................................53 Tabel 4. 4 Pengujian Warna Hijau ......................................................................53 Tabel 4. 5 Pengujian Driver Motor .....................................................................55 Tabel 4. 6 Pengujian Sumbu X Dengan Kordinat Y dan Z = 0 ..........................58 Tabel 4. 7 Pengujian sumbu Z dengan kordinat X=7 dan Y = 0 ........................58 Tabel 4. 8 Posisi Ujung End Effector Saat Mengambil Objek Warna Biru ........60 Tabel 4. 9 Posisi Ujung End Effector Saat Mengambil Objek Warna Hijau .....60 Tabel 4. 10 Pengujian Warna Hijau ....................................................................63 Tabel 4. 11 Pengujian Warna Biru ......................................................................63 Tabel 4. 12 Pengujian dengan berbagai warna....................................................64
DAFTAR PUSTAKA [1] Budiarto Widodo, Romy. (2009) “Emmbeded system menggunakan mikrokontroller”. Andi Offset Yojakarta. [2] Budiarto,Widodo, (2010) “Robotika teori dan aplikasi”.Andi Offset Yojakarta. [3] Kadir, Abdul (2013) “Panduan Praktis mempelajari mikrokontroller dan pemrogramanya menggunakan Arduino”. Andi Offset Yogyakarta. [4] Koren, Yoram. (1987).“Robotic For Engineers”.McGraw-Hill Book Company. [5] Servo
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http://arduino.cc/en/reference/servo. [6] Spong, Mark W. and Vidyasagar, M., (2004) “Robot Dynamics And Control”. [7] Sudrajat, Hajat. (2012) ” Robot pendekteksi Objek berwarna “. Tugas Akhir.
