sistem kendali step motion robot humanoid 20 derajad kebebasan dalam mengikuti suatu warna

SISTEM KENDALI STEP MOTION ROBOT HUMANOID 20 DERAJAD

KEBEBASAN DALAM MENGIKUTI SUATU WARNA

SKRIPSI

Disusun oleh:

RIDWAN WICAKSONO09/284228/TK/35189

JURUSAN TEKNIK ELEKTRO DAN TEKNOLOGI INFORMASI

FAKULTAS TEKNIK UNIVERSITAS GADJAH MADA

YOGYAKARTA

2013

DAFTAR ISI

HALAMAN PENGESAHAN..................................................................................i

HALAMAN PERSEMBAHAN.............................................................................iii

KATA PENGANTAR............................................................................................iv

DAFTAR ISI...........................................................................................................vi

DAFTAR TABEL...................................................................................................ix

DAFTAR GAMBAR...............................................................................................x

DAFTAR SINGKATAN......................................................................................xiv

Intisari....................................................................................................................xv

Abstract.................................................................................................................xvi

BAB I..................................................................................................................- 1 -

PENDAHULUAN...............................................................................................- 1 -

1.1. Latar Belakang......................................................................................- 1 -

1.2. Perumusan Masalah..............................................................................- 2 -

1.3. Maksud dan Tujuan Penelitian.............................................................- 2 -

1.4. Batasan Masalah...................................................................................- 3 -

1.5. Metode Penyelesaian Masalah..............................................................- 3 -

1.6. Sistematika Penulisan...........................................................................- 4 -

BAB II.................................................................................................................- 6 -

DASAR TEORI...................................................................................................- 6 -

2.1. Kinematika................................................................................................- 6 -

2.2. Autokorelasi Deret Waktu........................................................................- 7 -

2.3. Motor Servo Dynamixel AX-12...............................................................- 8 -

2.4. Mikrokontroller CM530.........................................................................- 12 -

2.5. Gyroscope Robotis..................................................................................- 13 -

2.6. Havimo Camera......................................................................................- 15 -

BAB III..............................................................................................................- 22 -

METODE PENELITIAN..................................................................................- 22 -

3.1. Desain Mekanik......................................................................................- 22 -

3.1.1. Posisi robot terhadap Bidang...........................................................- 24 -

3.2. Sumber Data...........................................................................................- 25 -

3.2.1. Gyroscope........................................................................................- 25 -

3.2.2. Havimo.............................................................................................- 29 -

3.2.3. Pengukuran tegangan, dan suhu servo.............................................- 31 -

3.3. Alat yang Digunakan..............................................................................- 32 -

3.4. Waktu dan Tempat Penelitian.................................................................- 34 -

3.5. Diagram Alir Penelitian..........................................................................- 35 -

BAB IV..............................................................................................................- 36 -

HASIL DAN PEMBAHASAN.........................................................................- 36 -

4.1. Analisis Keseimbangan Saat Diam (Statis)............................................- 36 -

4.2. Analisis Step Motion Saat Bergerak (Dinamis)......................................- 46 -

4.3. Analisis Keseimbangan Gerak................................................................- 53 -

4.4. Analisis Pendeteksian Warna.................................................................- 57 -

4.5. Analisis Kecepatan Gerak terhadap Bidang...........................................- 66 -

4.5.1. Kecepatan Maju...............................................................................- 66 -

4.5.2. Kecepatan Geser..............................................................................- 67 -

4.5.3. Kecepatan Rotasi..............................................................................- 68 -

4.6. Analisis Tegangan..................................................................................- 70 -

4.7. Analisis Suhu..........................................................................................- 71 -

BAB V...............................................................................................................- 73 -

KESIMPULAN DAN SARAN.........................................................................- 73 -

5.1. Kesimpulan.............................................................................................- 73 -

5.2. Saran.......................................................................................................- 74 -

DAFTAR PUSTAKA........................................................................................- 75 -

LAMPIRAN......................................................................................................- 76 -

DAFTAR TABEL

Tabel 2.1. Spesifikasi utama Servo AX-12..................................................10

Tabel 2.2. Data kemampuan gyroscope robotis...........................................14

Tabel 3.1. Tabel ID Servo beserta fungsinya...............................................23

Tabel 3.2. Macam instruksi pada Havimo...................................................30

Tabel 4.2. Hasil pengujian sensor gyroscope...............................................41

Tabel 4.3. Step langkah awal.......................................................................48

Tabel 4.4 Step perpindahan kaki kanan.......................................................49

Tabel 4.5. Step perpindahan kaki kiri..........................................................50

Tabel 4.6. Step langkah akhir.......................................................................52

Tabel 4.7. Tabel Keadaan Robot..................................................................65

Tabel 4.8. Kecepatan maju robot 56 step.....................................................67

Tabel 4.9. Kecepatan maju robot 24 step.....................................................67

Tabel 4.10. Kecepatan Geser robot 56 step.................................................68

Tabel 4.11. Kecepatan Geser robot 24 step.................................................68

Tabel 4.12. Kecepatan rotasi robot 56 step..................................................69

Tabel 4.13. Kecepatan rotasi robot 24 step..................................................69

DAFTAR GAMBAR

Gambar 2.1. Step Inverse Prediction Model ...............................................6

Gambar 2.2. Contoh Sinyal Periodis............................................................7

Gambar 2.3. Gambar cuplikan auto-korelasi terhadap lag...........................8

Gambar 2.4. Putaran Servo Ax-12...............................................................11

Gambar 2.5. Sistem Utama CM-530............................................................12

Gambar 2.6. Gyroscope robotis ..................................................................13

Gambar 2.7. Paket Perintah dan Respon dalam ROBOTIS.........................18

Gambar 2.8. Hasil dari algoritma Region Growing ....................................19

Gambar 2.9. Hasil Blok data citra 768 byte ................................................21

Gambar 2.10. Tampilan warna tertentu yang dideteksi kamera Havimo.....21

Gambar 3.1 Susunan servo AX-12 robot humanoid ...................................22

Gambar 3.2. Desain Mekanik robot humanoid 20 DOF .............................22

Gambar 3.3. Posisi robot terhadap bidang x dan y......................................24

Gambar 3.4. Posisi robot saat berubah terhadap sudut Ψ............................25

Gambar 3.5. Close loop diagram sistem robot saat posisi siaga..................26

Gambar 3.6. Simpangan Posisi Siaga..........................................................27

Gambar 3.7. Blok diagram sudut kepala robot............................................30

Gambar 3.8. Software Havimo GUI............................................................31

Gambar 3.9. Posisi servo yang diamati .......................................................32

Gambar 3.10 Diagram Alir Penelitian.........................................................35

Gambar 4.1. Posisi Siaga Robot dilihat dari

a. sumbu x .............................................................................................. 41

b. sumbu y .............................................................................................. 41

c. sumbu z............................................................................................... 41

Gambar 4.2. Data roll terhadap T tanpa gyro.............................................. 42

Gambar 4.3. Data pitch terhadap T tanpa gyro............................................ 42

Gambar 4.4. Cuplikan cross-korelasi terhadap lag tanpa gyro.................... 43

Gambar 4.5. Data roll terhadap T dengan gyro............................................ 44

Gambar 4.6. Data pitch terhadap T dengan gyro......................................... 44

Gambar 4.7. Cuplikan cross-korelasi terhadap lag dengan gyro................. 45

Gambar 4.8. Flowchart jalan lurus............................................................... 46

Gambar 4.9. Posisi kaki robot saat siaga..................................................... 47

Gambar 4.10.

a. Pindah titik berat ke kanan/kiri .......................................................... 49

b. Angkat kaki kiri/kanan ....................................................................... 49

c. Letakkan kaki kiri/kanan..................................................................... 49

d. Pindah titik berak ke titik nol (normal)............................................... 49

Gambar 4.11.

a. Pindah titik berat ke kiri/kanan .......................................................... 50

b. Angkat kaki kanan/kiri ....................................................................... 50

c. Letakkan kaki kanan/kiri .................................................................... 50


Gambar 4.12.

a. Pindah titik berat ke kanan/kiri .......................................................... 51

b. Angkat kaki kiri/kanan ....................................................................... 51

c. Letakkan kaki kiri/kanan .................................................................... 51


Gambar 4.13.

a. Pindah titik berat ke kiri/kanan........................................................... 52

b. Angkat kaki kanan/kiri........................................................................ 52

c. Letakkan kaki kanan/kiri sejajar......................................................... 52


Gambar 4.14 Grafik data servo 11 dan 12................................................... 53



Gambar 4.17. Data pitch saat robot berjalan................................................ 55

Gambar 4.18. Grafik auto-korelasi data pitch saat robot berjalan lurus...... 55

Gambar 4.19 Look-Up Table (LUT) pada proses kalibrasi warna.............. 57

Gambar 4.20. Hasil cuplikan metode region growing................................. 60

Gambar 4.21. Sebaran data warna jingga.................................................... 61

Gambar 4.22. Posisi centroid warna jingga................................................. 61

Gambar 4.23. Flowchart Pantilt................................................................... 62

Gambar 4.24. Diagram keadaan robot......................................................... 64

Gambar 4.25. Page parameter...................................................................... 66

Gambar 4.26.

a. Tegangan robot 56 step........................................................................ 70

b. Tegangan robot 24 step........................................................................ 70

Gambar 4.27.

a. Suhu servo lutut 56 step ..................................................................... 73

b. Suhu servo lutut 24 step...................................................................... 73

DAFTAR SINGKATAN

A

ACF Auto Correlation Function

D

DOF Degree of Freedom

Intisari

Penelitian ini membahas bagaimana menemukan metode dalam membuat step-motion robot humanoid. Step-motion merupakan hal paling signifikan yang mempengaruhi keseimbangan dan ketepatan posisi. Fokus dari penelitian ini adalah menemukan data motor servo yang mempengaruhi step-motion robot dengan 20 derajat kebebasan. Kekangan pada penelitian ini berfokus pada suhu dan tegangan servo. Untuk mengendalikan kestabilan robot saat statis dapat mengumpanbalikkan sinyal gyroscope sehingga dapat memperbaiki posisi servo yang berpengaruh erhadap keseimbangan. Untuk mengetahui kestabilan robot saat dinamis dapat dilakukan dengan mengamati sinyal keluaran sensor gyro. Robot dinyatakan dalam keadaan seimbang karena sinyal keluaran sensor gyro berupa sinyal periodis.

Kamera havimo digunakan agar robot humanoid dapat mengenali dan mengikuti warna tertentu dengan region growing method. Keluaran dari Havimo merupakan data yang tersebar di suatu wilayah bidang penglihatan x dan y. Dengan mengumpan balikkan keluaran Havimo maka robot mengenali di mana rentang koordinat warna tersebut berada. Analisis keadaan robot dilakukan dengan melihat diagram keadaan. Kemudian dilakukan perbandingan gerak robot 56 step dengan 24 step. Mengurangi jumlah step dengan lintasan, parameter, dan waktu kerja servo yang senilai, mempercepat robot dalam bergerak terhadap sumbu x (maju), memperlambat gerak terhadap sumbu y (geser), memperlambat gerak terhadap sumbu ψ (rotasi), memperlambat kenaikan suhu, dan memperlambat penurunan tegangan servo.

Kata kunci: Step-motion, degree of freedom (DOF), Havimo, humanoid

Abstract

This research discussed about the method generating step-motion humanoid robot. The focus of this research is found the data for each servos that affected walk’s step-motion of 20 DOF humanoid robot. The constraints of this research is servo’s temperature and voltage. In static condition, robot is controlled by feedback of gyroscope signal so the legs, hips, knees of robot reform their angular position. In dynamic condition, stability of robot can be observed through output gyro signal. Robot in stable condition due to output signal of gyroscope is periodic signal.

Havimo Camera is used for detect the specified color with On-line Region Growing Method. Output data from this camera is spreaded in specific region of x and y axis image’s plane that set as feedback signal to control head’s servos facing the color position. Through state diagram, 19 state is generated for tracking specific color. To know the influence of sum of step robot, what to do is compare the temperature and voltage between 56 step and 24 step. Reducing sum of step, with equal trajectory, parameter, and real time work, increase speed against x (go forward) axis movement, decrease speed against y (shift) and ψ (rotation) axis movement, deceletare temperature’s ascension and decelerate voltage’s descent.

Keywords: Step-motion, degree of freedom (DOF), Havimo, humanoid.

sistem kendali step motion robot humanoid 20 derajad kebebasan dalam mengikuti suatu warna

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