* Corresponding Author
Hide
Show all
Pengendali Wireless Mobile Robot Arm (WMRA) Berdasarkan Gestur Lengan Menggunakan Sensor Accelerometer dan Logika Fuzzy
https://doi.org/10.22146/ijeis.77125 Widya Cahyadi(1), Ali Rizal Chaidir(2*), Azmy Akhyar Al Insani(3), Khairul Anam(4), Andrita Ceriana Eska(5)
(1) Universitas Jember
(2) Universitas Jember
(3) Universitas Jember
(4) Universitas Jember
(5) Universitas Jember
(*) Corresponding Author
Abstract
Telerobotik adalah sistem pengendali robot dalam jarak jauh yang membutuhkan campur tangan manusia sebagai operator (Human-in-the-Loop). Pada penelitian sebelumnya, mobile robot manipulator dikendalikan berdasarkan gestur jari operator melalui image processing menggunakan metode template matching dengan komunikasi melalui kabel. Sehingga pada penelitian selanjutnya, dibuat sistem kendali robot berdasarkan gestur lengan menggunakan sensor accelerometer dan logika fuzzy dengan komunikasi nirkabel melalui jaringan internet. Robot yang dikendalikan terdiri dari robot arm 2 dof dan robot non-holonomic dengan 4 roda. Sistem kendali robot terdiri dari 2 sensor accelerometer yang terpasang pada lengan operator. Juga terdapat sensor hall-effect sebagai kendali gerak gripper. Metode fuzzy sugeno diterapkan pada sistem kendali gerak mobile robot agar didapatkan respon robot yang dapat bergerak secara bebas berdasarkan gestur lengan operator. Berdasarkan analisa dan data pengujian didapatkan hasil bahwa robot dapat dikendalikan dengan cukup baik.
Keywords
Full Text:
PDFReferences
G. Niemeyer, C. Preusche and G. Hirzinger, "Telerobotics," in Telerobotics, 2008, p. 741.
S. Manoharan and N. Ponraj, "PRECISION IMPROVEMENT AND DELAY REDUCTION IN SURGICAL TELEROBOTICS," Journal of Artificial Intelligence and Capsule Networks, vol. 1, no. 1, pp. 28-36, 2019.
P. Gupta, D. D. Bhardwaj and R. V. Jain, "Gesture Controlled Mobile Robotic Arm Vehicle Using Accelerometer," International Research Journal of Engineering and Technology (IRJET), vol. 4, no. 4, pp. 1245-1247, 2017.
B. Omarali, B. Denoun, K. Althoefer, L. Jamone, M. Valle and I. Farkhatdinov, "Virtual Reality based Telerobotics Framework with Depth Cameras," in 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Naples, 2020.
A. S. Chouhan, D. R. Parhi and A. Chhotray, "Control and Balancing of Two-Wheeled Mobile Robots using Sugeno Fuzzy Logic in the domain of AI Techniques," in EMERGING TRENDS IN ENGINEERING, SCIENCE AND MANUFACTURING (ETESM-2018), Sarang, 2018.
J.-X. Xu, Z.-Q. Guo and T. H. Lee, "Design and Implementation of a Takagi–Sugeno-Type Fuzzy Logic Controller on a Two-Wheeled Mobile Robot," IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, vol. 60, no. 12, pp. 5717-5728, 2013.
I. Al-Darraji, A. A. Kakei, A. G. Ismaeel, G. Tsaramirsis, F. Q. Khan, P. Randhawa, M. Alrammal and S. Jan, "Takagi–Sugeno Fuzzy Modeling and Control for Effective Robotic Manipulator Motion," Computers, Materials & Continua, vol. 71, no. 1, pp. 1011-1024, 2022.
M. A. K. Yusoff, R. E. Samin and B. S. K. Ibrahim, "Wireless Mobile Robotic Arm," in International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012), Sarawak, 2012.
A. R. Chaidir, D. WahyuHerdiyanto and G. D. Kalandro, "Pengendalian Mobile Robot Non-Holonomic Berdasarkan Gestur Jari Menggunakan Template Matching," Jurnal Nasional Teknik Elektro, vol. 9, no. 1, pp. 21-27, 2020.
A. R. Hakim, Nehru and S. Fuady, "Rancang Bangun Pengendalian Robot Mobil dengan Wireless Joystick PS2 Menggunakan Modul nRF24L01," Jurnal Engineering, vol. 3, no. 2, pp. 72-79, 2021.
DOI: https://doi.org/10.22146/ijeis.77125
Article Metrics
Abstract views : 706
| 
views : 553
Refbacks
- There are currently no refbacks.
Copyright (c) 2023 IJEIS (Indonesian Journal of Electronics and Instrumentation Systems)
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
View My Stats1