Sistem Pengaturan Kecepatan Motor Dengan Metode Fuzzy Logic Pada Mobile Robot Untuk Menarik Troli Makanan

Mawardani, Wening Kharisma (2021) Sistem Pengaturan Kecepatan Motor Dengan Metode Fuzzy Logic Pada Mobile Robot Untuk Menarik Troli Makanan. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pendistribusian makanan dan obat obatan pasien rawat inap RSUD DR. R Koesma Tuban dilakukan dengan menggunakan rak makanan dan didorong secara manual oleh perawat dari ruang gizi menuju kamar pasien. Serta untuk meminimalisir kontak antara tenaga medis dengan pasien covid diperlukan alat yang dapat dioperasikan oleh tenaga medis dari jarak jauh. Sehingga diperlukan inovasi teknologi untuk meminimalisir penularan penyakit covid.
Pada project akhir dibuat suatu mobile robot untuk menarik troli makanan dan dapat dikontrol dari jarak jauh dengan penambahan kamera untuk komunikasi antara tenaga medis dan pasien. Komponen utama yang digunakan sebagai kontrol utama adalah remote control yang telah dihubungkan melalui module Wifi ESP 8226 pada mikrokontroler Arduino Mega 2560, sumber tegangan dari supply Accu 24v, Driver motor IBT-2 sebagai pengatur gerak electric linier actuator dan Motor DC 24v, Sensor ultrasonic digunakan sebagai pendeteksi jarak.
Dari hasil penelitian MQTT dapat digunakan sebagai protocol komunikasi antara joystick dengan mobile robot. Pengaturan kecepatan pada motor dapat dilakukan dengan mengatur nilai adc pada joystick menggunakan metode Fuzzy % eror sebesar 0.12%. Kemampuan derajat belokan roda hanya berkisar antara 60-120. Beban maksimum yang dapat ditarik mobile robot sebesar 63 kg (troli 28kg & beban tambahan 35kg) dengan kecepatan min 15.9 RPM.
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Food and medicine were distributed to inpatients at RSUD DR. R Koesma Tuban utilizing a food rack that was manually pushed from the nutrition department to the patient's room by the nurse. A gadget that can be operated remotely by medical workers is also required to reduce contact between medical personnel and Covid patients. As a result, technological innovation is required to reduce transmission.
The final project included the creation of a mobile robot to move the food trolley, which can be controlled remotely and equipped with a camera for communication between medical workers and patients. The remote control, which has been connected via the Wifi ESP 8226 module on the Arduino Mega 2560, the voltage source from the 24v Accu supply, the IBT-2 motor driver as a regulator of the electric linear actuator and 24v DC motor, and the ultrasonic sensor as a distance detector are the main components used as the main control.
MQTT can be utilized as a communication protocol between joysticks and mobile robots, according to the findings. Adjusting the adc value on the joystick using the Fuzzy percent error approach of 0.12 percent can be used to set the motor's speed. The wheel's degree of turning ability is only 60-120 degrees. The mobile robot can pull a maximum load of 63 kg(28kg trolley and 35 extra load) at a minimum speed of 15.9 km/h

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Fuzzy Logic, Mobile Robot, MQTT.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.B47 Electric motors, Direct current. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5103.2 Wireless communication systems. Two way wireless communication
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Wening Kharisma Mawardani
Date Deposited:	26 Aug 2021 05:19
Last Modified:	26 Aug 2021 05:19
URI:	http://repository.its.ac.id/id/eprint/89684

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