Warning System Monitoring Tegangan & Arus Pada Robot Humanoid Soccer Dengan Peringatan Suara Melalui Komunikasi Daisy Chain

Prasetyo, Sakti Arisena Damai (2026) Warning System Monitoring Tegangan & Arus Pada Robot Humanoid Soccer Dengan Peringatan Suara Melalui Komunikasi Daisy Chain. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Teknologi robotika mendorong inovasi dalam sistem monitoring pada robot humanoid soccer. Salah satu permasalahan yang sering muncul adalah kerusakan komponen akibat tegangan berlebih (overvoltage), tegangan kurang (undervoltage), maupun arus berlebih (overcurrent). Robot humanoid soccer memerlukan sistem monitoring yang mampu mengawasi kondisi kelistrikan secara real-time untuk mencegah kerusakan pada Mini PC dan servo Dynamixel akibat kondisi overvoltage, undervoltage, maupun overcurrent. Penelitian ini bertujuan merancang dan mengimplementasikan sistem peringatan (warning system) monitoring tegangan dan arus pada robot humanoid soccer dengan notifikasi suara melalui komunikasi daisy chain. Sistem menggunakan sensor INA226 untuk mengukur tegangan dan arus pada Mini PC serta servo Dynamixel. Data hasil pengukuran diproses oleh Arduino Mega 2560 Mini sebagai slave dan dikirim melalui komunikasi RS-485/TTL menggunakan FT4232H sebagai master untuk ditampilkan pada Web ICHIRO Apps secara real-time. Selain fungsi monitoring, sistem juga dilengkapi DFPlayer Mini dan speaker yang berfungsi memberikan peringatan suara ketika terdeteksi kondisi overvoltage, undervoltage, dan overcurrent berdasarkan nilai ambang batas yang telah ditentukan. Hasil pengujian menunjukkan bahwa sistem mampu melakukan monitoring tegangan dan arus secara real-time serta memberikan peringatan suara sesuai dengan kondisi yang terdeteksi. Hasil validasi sensor tegangan pada Mini PC memperoleh rata-rata error sebesar 0,48% dengan akurasi 99,52%, sedangkan sensor tegangan servo memperoleh rata-rata error sebesar 0,18% dengan akurasi 99,82%. Pada pengukuran arus Mini PC diperoleh rata-rata error sebesar 1,28% dengan akurasi 98,72%, sedangkan pengukuran arus servo memperoleh rata-rata error sebesar 0,91% dengan akurasi 99,09%. Pengujian pada kondisi robot diam, walking, serta tendangan kiri dan kanan menunjukkan bahwa sistem mampu mendeteksi perubahan kondisi kelistrikan dan mengaktifkan peringatan sesuai parameter yang telah ditentukan. Berdasarkan hasil penelitian, sistem monitoring dan peringatan yang dirancang berhasil diintegrasikan dengan komunikasi daisy chain servo Dynamixel, mampu menampilkan data monitoring secara visual pada Web ICHIRO Apps, serta memberikan notifikasi suara secara real-time. Dengan tingkat akurasi pengukuran di atas 98%, sistem dapat digunakan sebagai solusi monitoring terintegrasi untuk membantu mencegah kerusakan Mini PC dan servo Dynamixel akibat kondisi kelistrikan yang tidak normal.
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Robotics technology has driven innovation in monitoring systems for humanoid soccer robots. One of the most common issues is component failure caused by overvoltage, undervoltage, and overcurrent conditions. Humanoid soccer robots require a monitoring system capable of supervising electrical parameters in real time to prevent damage to the Mini PC and Dynamixel servos caused by abnormal electrical conditions. This study aims to design and implement a voltage and current warning system for a humanoid soccer robot with voice notifications through daisy chain communication. The proposed system utilizes the INA226 sensor to measure the voltage and current of the Mini PC and Dynamixel servos. The measured data are processed by an Arduino Mega 2560 Mini acting as a slave and transmitted through RS-485/TTL communication using an FT4232H as the master. The monitoring data are displayed on the Web ICHIRO Apps interface in real time. In addition to the monitoring function, the system is equipped with a DFPlayer Mini and a speaker to provide voice warnings whenever overvoltage, undervoltage, or overcurrent conditions are detected based on predefined threshold values. The experimental results demonstrate that the system is capable of monitoring voltage and current in real time while providing voice warnings according to the detected electrical conditions. The voltage sensor validation for the Mini PC achieved an average error of 0.48% with an accuracy of 99.52%, while the servo voltage sensor achieved an average error of 0.18% with an accuracy of 99.82%. For current measurements, the Mini PC sensor achieved an average error of 1.28% with an accuracy of 98.72%, whereas the servo current sensor achieved an average error of 0.91% with an accuracy of 99.09%. Tests conducted under stationary, walking, left-kick, and right-kick conditions demonstrated that the system successfully detected changes in electrical parameters and activated voice warnings according to the predefined thresholds. Based on the research findings, the proposed monitoring and warning system was successfully integrated with the Dynamixel servo daisy chain communication network, enabling real-time visualization of monitoring data through the Web ICHIRO Apps interface while simultaneously providing real-time voice notifications. With a measurement accuracy exceeding 98%, the proposed system can serve as an integrated monitoring solution to help prevent damage to the Mini PC and Dynamixel servos caused by abnormal electrical conditions.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Robot Humanoid Soccer, Warning System, Monitoring Tegangan dan Arus, Daisy Chain, Dynamixel, Daisy Chain.================================================================================================================== Humanoid Soccer Robot, Warning System, Voltage and Current Monitoring, Daisy Chain, Dynamixel, Daisy Chain.
Subjects:	T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Vocational > Instrumentation Engineering
Depositing User:	Sakti Arisena Damai Prasetyo
Date Deposited:	31 Jul 2026 08:18
Last Modified:	31 Jul 2026 08:18
URI:	http://repository.its.ac.id/id/eprint/141165

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