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Pengendali Wireless Mobile Robot Arm (WMRA) Berdasarkan Gestur Lengan Menggunakan Sensor Accelerometer dan Logika Fuzzy
https://doi.org/10.22146/ijeis.77125 Widya Cahyadi(1), Ali Rizal Chaidir(2*), Azmy Akhyar Al Insani(3), Khairul Anam(4), Andrita Ceriana Eska(5)
(1) Universitas Jember
(2) Universitas Jember
(3) Universitas Jember
(4) Universitas Jember
(5) Universitas Jember
(*) Corresponding Author
Abstract
Telerobotik adalah sistem pengendali robot dalam jarak jauh yang membutuhkan campur tangan manusia sebagai operator (Human-in-the-Loop). Pada penelitian sebelumnya, mobile robot manipulator dikendalikan berdasarkan gestur jari operator melalui image processing menggunakan metode template matching dengan komunikasi melalui kabel. Sehingga pada penelitian selanjutnya, dibuat sistem kendali robot berdasarkan gestur lengan menggunakan sensor accelerometer dan logika fuzzy dengan komunikasi nirkabel melalui jaringan internet. Robot yang dikendalikan terdiri dari robot arm 2 dof dan robot non-holonomic dengan 4 roda. Sistem kendali robot terdiri dari 2 sensor accelerometer yang terpasang pada lengan operator. Juga terdapat sensor hall-effect sebagai kendali gerak gripper. Metode fuzzy sugeno diterapkan pada sistem kendali gerak mobile robot agar didapatkan respon robot yang dapat bergerak secara bebas berdasarkan gestur lengan operator. Berdasarkan analisa dan data pengujian didapatkan hasil bahwa robot dapat dikendalikan dengan cukup baik.
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DOI: https://doi.org/10.22146/ijeis.77125
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