Pengembangan Aplikasi Mobile Augmented Reality Sebagai Antarmuka Pengendali Robot Lengan

Abdullah, Muhammad Habib (2026) Pengembangan Aplikasi Mobile Augmented Reality Sebagai Antarmuka Pengendali Robot Lengan. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini bertujuan untuk merancang bangun sistem kontrol robot Dobot Magician berbasis perangkat mobile Android yang mengintegrasikan teknologi Augmented Reality (AR) sebagai media visualisasi interaktif dan protokol WebSocket untuk komunikasi data real-time dua arah (full duplex). Sistem ini dikembangkan menggunakan platform Unity dengan metode marker-based tracking serta didukung oleh framework AR Foundation dan SDK Google ARCore. Struktur fisik robot virtual disesuaikan secara presisi dengan unit asli berskala 1:1 memanfaatkan format URDF (Universal Robot Description Format). Pengendalian robot diimplementasikan melalui perhitungan kinematika balik (inverse kinematics) secara geometris dan menyediakan fitur operasional Teach and Playback serta Move Box (pemindahan objek virtual). Hasil pengujian menunjukkan bahwa arsitektur komunikasi WebSocket berhasil mentransmisikan paket data JSON terstruktur dengan latensi rendah pada seluruh skenario. Pada mode Teach and Playback, robot fisik berhasil mengeksekusi runtunan pergerakan secara kronologis pada pengujian pemindahan 1 balok (8 waypoint), penukaran 2 balok (24 waypoint), dan penumpukan 3 balok (16 waypoint). Hasil pengujian sinkronisasi menunjukkan adanya selisih sudut rata-rata antara robot fisik dan robot virtual akibat perbedaan acuan pivot point mesh grafis, dengan deviasi masing-masing sebesar 9,6° pada Sendi 1, 5,03° pada Sendi 2, dan 11° pada Sendi 3, namun relasi pergerakan terbukti tetap linear dan sinkron. Berdasarkan evaluasi antarmuka pengguna dengan metode System Usability Scale (SUS), fungsionalitas aplikasi memperoleh skor 56 (Fair), sementara kualitas visualisasi AR memperoleh skor 72,5 (Good) karena keandalannya dalam menjaga stabilitas pelacakan dan mengurangi efek drifting. Sistem ini berhasil mempermudah pengguna dalam merancang dan memvalidasi lintasan gerak robot secara virtual sebelum dijalankan pada unit fisik.
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This research aims to design and implement a control system for the Dobot Magician robot based on Android mobile devices by integrating Augmented Reality (AR) technology as an interactive visualization medium and the WebSocket protocol for real-time, two-way (full-duplex) data communication. The system is developed using the Unity platform with a marker-based tracking method, supported by the AR Foundation framework and the Google ARCore SDK. The physical structure of the virtual robot is precisely matched to the actual unit at a 1:1 scale utilizing the Universal Robot Description Format (URDF). Robot control is implemented through geometric inverse kinematics calculations and offers operational features such as Teach and Playback mode as well as Move Box mode (virtual object relocation). The test results demonstrate that the WebSocket communication architecture successfully transmits structured JSON data packages with low latency across all scenarios. In Teach and Playback mode, the physical robot successfully executed movement sequences chronologically during tasks for moving 1 block (8 waypoints), swapping 2 blocks (24 waypoints), and stacking 3 blocks (16 waypoints). Joint synchronization results reveal an average angle discrepancy between the physical and virtual robots due to differing reference pivot points in the graphic mesh, with deviations of 9.6° for Joint 1, 5.03° for Joint 2, and 11° for Joint 3; nevertheless, the movement relationship remains linear and synchronous. Based on user interface evaluation using the System Usability Scale (SUS) method, the application's functionality achieved a score of 56 (Fair), while the AR spatial visualization quality scored 72.5 (Good) due to its reliability in maintaining tracking stability and mitigating visual drifting effects. This system successfully assists users in virtually designing and validating robot trajectories before executing them on the physical unit.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Augmented Reality, Dobot Magician, Interaksi Manusia-Robot, Unity, WebSocket, Human-Robot Interaction
Subjects:	Q Science > QA Mathematics > QA76.9 Computer algorithms. Virtual Reality. Computer simulation. T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Computer Engineering > 90243-(S1) Undergraduate Thesis
Depositing User:	Muhammad Habib Abdullah
Date Deposited:	30 Jul 2026 07:48
Last Modified:	30 Jul 2026 07:48
URI:	http://repository.its.ac.id/id/eprint/139577

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