Rancang Bangun Sensor Pemindai Gerak Tangan Manusia Menggunakan Sensor Akselerometer Dan Sensor Giroskop Untuk Mengendalikan Lengan Robot

Utomo, Mochamad Fajar Rinaldi (2017) Rancang Bangun Sensor Pemindai Gerak Tangan Manusia Menggunakan Sensor Akselerometer Dan Sensor Giroskop Untuk Mengendalikan Lengan Robot. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sensor pemindai gerakan tangan adalah perangkat yang digunakan untuk mengukur gerak tangan dalam sumbu Cartesian. Robot tangan yang dapat dikendalikan secara jarak jauh sudah dikembangkan dan digunakan untuk membantu dalam misi berbahaya. Robot dengan kendali jarak jauh konvensional biasanya dikendalikan dengan mengatur sudut untuk setiap sendi robot secara individual. Penggunaan remote control konvensional memerlukan operator berpengalaman dan membutuhkan waktu yang relatif besar bagi operator untuk mengontrol lengan. Dalam tugas akhir ini, sistem untuk mengukur gerakan tangan dikembangkan untuk mendapatkan nilai perpindahan untuk setiap gerakan. Accelerometer, giroskop dan magnetometer digunakan untuk mendapatkan setiap sudut sendi. metode kinematika maju digunakan untuk mendapatkan posisi dan gerakan end effector. Data gerakan yang diperoleh digunakan sebagai informasi untuk mengontrol gerakan lengan dengan metode kinematika balik. Genggaman telapak tangan diukur oleh flex sensor untuk mengontrol gripper pada end effector robot tangan. Lengan robot dikendalikan secara jarak jauh menggunakan koneksi nirkabel hingga jarak 100 meter. hasil perhitungan kinematika maju menghasilkan kesalahan kurang dari 3%. hasil perhitungan kinematika balik menghasilkan kesalahan hingga 12%. Koneksi nirkabel menambahkan latensi 0,1 detik pada jarak 50 meter dan latensi 0,2 detik pada jarak 100 meter. Tegangan output sensor flex berkorelasi secara linier dengan sudut tekukan jari tangan. ======================================================================================== Hand motion scanning sensor is a device that is used to measure hand motion in the cartesian axes. Remotely controlled arm robot is already developed and used to help in dangerous mission. Conventional remotely controlled robot usually controlled by individually controlling the angle for each robot joints. The use of conventional remote control require experienced operator and require comparatively large time for the operator to control the arm. In this final project, a system to sense hand movement is developed to obtain displacement value for every movement. Accelerometer, gyroscope and magnetometer is used to obtain each joint angle. Forward kinematic methods is used to obtain end effector position and movement. The obtained movement data is used as source information to control arm movement by inverse kinematics methods. Palm grip sensed by flex sensor is used to control robotic gripper at robotic arm’s end effector. The robotic arm is cotrolled remotely using wireless connection up to 100 meters. Forward kinematic calculation results in error of less than 3%. Inverse kinematics calculation results in error up to 12%. Wireless connection adds 0.1 second latency at 50 meters and 0.2 second latency at 100 meters. Flex sensor voltage output is linearly correlated with fingers bend angle.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: robot tangan; kendali nirkabel; akselerometer; giroskop; magnetometer; flex; forward kinematic; inverse kinematic; robot arm; wireless control; accelerometer; gyroscope
Subjects: Q Science > QA Mathematics > QA76 Computer software > QA76.8 Microprocessor
T Technology > TJ Mechanical engineering and machinery > TJ223_Programmable controllers
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105 Data Transmission Systems
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7872 Electromagnetic Devices
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5101 Telecommunication
Divisions: Faculty of Industrial Technology > Electrical Engineering > (S1) Undergraduate Theses
Depositing User: - MOCHAMAD FAJAR RINALDI UTOMO
Date Deposited: 27 Apr 2017 08:11
Last Modified: 22 Dec 2017 07:25
URI: http://repository.its.ac.id/id/eprint/3827

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