Rancang Bangun Underwater Remotely Operated Vehicles Untuk Lingkungan Air

Ali, Sulaiman (2019) Rancang Bangun Underwater Remotely Operated Vehicles Untuk Lingkungan Air. Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot yang digunakan untuk pemantuan didalam air dikenal dengan nama Underwater Remotely Operated Vehicles (UROV) yang merupakan robot yang dapat dikendalikan oleh manusia dari darat. Robot dirancang agar mudah digunakan di dalam air untuk melakukan aktifitas pemantauan air pada lingkungan tertentu. Robot ROV ini dirancang dengan dimensi panjang 48 CM, lebar 39,5 CM, dan tinggi 27 CM. Material kerangka robot 80% menggunakan akrilik karena mudah didesain dan tahan terhadap air. Penggerak robot menggunakan 4 buah motor untuk bergerak secara horizontal dan 2 buah motor untuk bergerak vertikal. Komponen elektrik yang digunakan adalah Arduino Mega 2560, driver motor BTS7960 dan sensor MPU6050 untuk mengetahui orientasi robot yaw, pitch, dan roll didalam air. Pada robot ini, terdapat dua kontroler yaitu kontroler utama (komputer) dan kontroler pendukung (Arduino Mega). Kontroler utama berfungsi untuk menampilkan data sensor dan sebegai kontrol gerak robot dari hasil pe mbacaan joystick. Sedangkan kontroler pendukung berfungsi menggerkan motor dengan mengirimkan nilai PWM ke driver motor dan membaca data sensor orientasi lalu dikirim ke kontroler utama. Pergerakan robot dikontrol dengan joystick sebagai input kecepatan berupa nilai PWM. Robot yang dibuat diharapkan dapat bergerak omnidirectional yaitu maju, mundur, geser kanan dan geser kiri, rotasi searah dan beralawanan arah jarum jam, naik, dan turun. Dari perancangan robot, di hasilkan robot ROV yang dapat bergerak secara omnidirectional. Pengendalian gerakkan robot yang dibuat sudah sesuai dengan yang diberikan oleh joystick. Dari hasil pengujian, sensor orientasi MPU5060 robot memiliki nilai error pembacaan sudut maksimal sebesar 3°. Pembacaan sensor ini berguna bagi operator robot dalam mengendalikan robot didalam air.
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Robots used for water monitoring are known as Underwater Remotely Operated Vehicles (UROV) which are robots that can be controlled by humans from land. Robots are designed to be easy to use in water to carry out water monitoring activities in certain environments. This ROV robot was designed with dimensions of 48 CM in length, 39.5 CM in width, and 27 CM in height. 80% of robot skeleton material uses acrylic because it is easily designed and resistant to water. Robot drive uses 4 motors to move horizontally and 2 motors to move vertically. The electrical components used are Arduino Mega 2560, BTS7960 motor driver and MPU6050 sensor to determine yaw, pitch, and roll robot orientation in the water. In this robot, there are two controllers, namely the main controller (computer) and supporting controller (Arduino Mega). The main controller functions to display sensor data and as a control of the motion of the robot from the results of reading the joystick. While the supporting controller functions to move the motor by sending the PWM value to the motor driver and reading the orientation sensor data and then sent to the main controller. The movement of the robot is controlled by a joystick as input speed in the form of a PWM value. The robot that is made is expected to move omnidirectionally such as forward, backward, swipe right and slide left, rotation clockwise and counterclockwise, up and down. From the design of the robot, ROV robots are produced which can move omnidirectionally. Control of moving the robot that is made is in accordance with that given by the joystick. From the test results, the MPU5060 robot's orientation sensor has an error value of maximum angle reading of 3 °. This sensor reading is useful for robotic operators in controlling robots in water.

Item Type:	Thesis (Diploma)
Uncontrolled Keywords:	Interface Control Joystick, Omnidirectional, Orientasi, ROV.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.5 Motor vehicles Driving T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Ali Sulaiman
Date Deposited:	10 Aug 2026 03:54
Last Modified:	10 Aug 2026 03:54
URI:	http://repository.its.ac.id/id/eprint/69989

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