Pengembangan Sistem Kendali Dan Antarmuka Grafis Robot Mentor Berbasis Web

Istighfarotudzdzilal, Arrijal (2025) Pengembangan Sistem Kendali Dan Antarmuka Grafis Robot Mentor Berbasis Web. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot Mentor merupakan media pembelajaran robotika yang telah digunakan sejak tahun 1990-an di berbagai institusi pendidikan. Namun, seiring dengan berkembangnya teknologi, perangkat lunak untuk sistem kendali Robot Mentor menjadi usang. Penelitian ini bertujuan untuk mengembangkan sistem kendali dan antarmuka grafis berbasis web yang memungkinkan interaksi antara pengguna dan Robot Mentor dengan mudah serta mendukung berbagai sistem operasi. Pengembangan dilakukan dengan menggunakan framework Next.js sebagai basis antarmuka web yang mendukung akses lintas platform, serta protokol WebSocket untuk menjembatani komunikasi data antara antarmuka web dan mikrokontroler STM32 yang mengendalikan Robot Mentor. Data sudut yang diinput oleh pengguna dikirimkan dalam format string melalui komunikasi serial untuk menggerakkan tiap joint pada robot. Visualisasi gerakan Robot Mentor diwujudkan melalui model 3D menggunakan Three.js, yang dibangun berdasarkan perhitungan forward kinematics setiap joint. Pengujian dilakukan dengan mengukur ketepatan sudut yang dikirim dan dibandingkan dengan pergerakan aktual robot. Hasil pengujian menunjukkan adanya deviasi pada masing-masing joint dengan maksimum sebesar 53,50%
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The Mentor Robot is a robotics learning tool that has been used since the 1990s in various educational institutions. However, with the advancement of technology, the control system software of the Mentor Robot has become outdated. This study aims to develop a web-based control system and graphical interface that facilitates user interaction with the Mentor Robot in a more accessible manner and supports various operating systems. The system is developed using the Next.js framework as the web interface foundation, which enables cross-platform access, and the WebSocket protocol as the communication bridge between the web interface and the STM32 microcontroller that controls the Mentor Robot. User-input joint angles are transmitted in string format via serial communication to control each joint of the robot. The robot's movements are visualized using a 3D model implemented with Three.js, constructed based on the forward kinematics calculation of each joint. Testing was conducted by measuring the accuracy of transmitted joint angles and comparing them with the robot's actual movements. The results showed deviations in each joint, with a maximum deviation of 53.50%.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Mentor Robot, Web Interface, WebSocket, Three.js, Robot Mentor, Antarmuka Web, WebSocket, Three.js
Subjects:	T Technology > T Technology (General)
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Computer Engineering > 90243-(S1) Undergraduate Thesis
Depositing User:	Arrijal Istighfarotudzdzilal
Date Deposited:	30 Jul 2025 06:29
Last Modified:	30 Jul 2025 06:29
URI:	http://repository.its.ac.id/id/eprint/123389

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