Pengembangan Metode Pengambilan Objek Berbahaya Secara Otomatis Pada Mobile Robot

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. ======================================================================================================================== 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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