Mubin, Mohammad Nasrul (2016) Pengembangan Metode Pengambilan Objek Berbahaya Secara Otomatis Pada Mobile Robot. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Penjinakan bom yang dilakukan manusia secara kontak
langsung memiliki risiko yang sangat besar. Risiko tersebut seperti
meledaknya objek tersebut hingga melukai bahkan membunuh sang
penjinak bom. Karena hal inilah robot pengambil objek perlu
direalisasikan.
Pada penelitian ini, direalisasikan suatu mobile robot
autonomous pengambil objek berbahaya sebagai pengembangan
penelitian sebelumnya. Fitur robot pada penelitian kali ini telah
dikembangkan hingga mampu mengambil objek dalam pose apapun.
Dengan memanfaatkan tangkapan gambar dari kamera dan terbatas
dengan objek berwarna merah, robot mampu mengestimasi orientasi
objek. Estimasi dimulai dengan mengkonversi gambar RGB ke
lingkup HSV. Dari gambar HSV, diaplikasikan filter warna merah dan
morfologi. Aplikasi deteksi tepi digunakan untuk mempermudah
pengaplikasian hough transform. Nilai x dan y dari fungsi tersebut
digunakan untuk menghitung nilai orientasi objek. Nilai ini kemudian
diproses untuk diterapkan pada pergerakan gripper.
Beberapa hasil pengujian pada tugas akhir kali ini antara lain
masih terdapat kesalahan pada deteksi orientasi yaitu mencapai 7,7%,
terdapat batas bawah nilai iluminansi agar sistem dapat bekerja yaitu
7,1, pergerakan gripper sesuai dengan kalkulasi dari orientasi yang
terdeteksi, dan lama pengambilan dipengaruhi oleh jarak serta
orientasi objek.
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Manually defusing a bomb posseses a high risk. It is such as
when the bomb explode, the operator can get injured or even killed.
Because of this object grasping robot needs to be realized.
In this research, it is realized an autonomous dangerous objects
grasping mobile robot. Robot features in the present research has been
developed to be able to take the object in any pose. By utilizing
capture images from the camera and limited to a red object, the robot
is able to estimate the pose of the object. Estimates begins with
converting RGB image to HSV image. From HSV image, the red color
filter and morphology function is applied. Application of edge
detection is used to facilitate the application of hough transform
function. X and y values of the function used to calculate the value of
object orientation. This value is then processed to apply to the
movement of gripper.
Some of the test results inter alia there are errors in the
orientation detection, reaching 7.7%, there is a lower limit value of
illuminance for the system to work is 7.1, there is no error in the
movement of the gripper based on the orientation’s calculation, and
the time of the grasping object is influenced by the distance and the
object poses.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.892 Mub p |
| Uncontrolled Keywords: | mobile robot, filter warna, estimasi orientasi. |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | ansi aflacha |
| Date Deposited: | 20 Jan 2020 02:55 |
| Last Modified: | 20 Jan 2020 02:55 |
| URI: | http://repository.its.ac.id/id/eprint/72747 |
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