PENGEMBANGAN SISTEM KENDALI PADA ROBOT LENGAN 4 DOF MENGGUNAKAN TEKNOLOGI KOMUNIKASI NIRKABEL

ROSE, DINDA RINTIC and Prasetyo, Aditya Putra Perdana and Zarkasi, Ahmad (2025) PENGEMBANGAN SISTEM KENDALI PADA ROBOT LENGAN 4 DOF MENGGUNAKAN TEKNOLOGI KOMUNIKASI NIRKABEL. Diploma thesis, Sriwijaya University.

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Abstract

The development of robotics technology has encouraged the use of robot arms in various industrial sectors, especially in supporting automation and work efficiency. This research aims to develop a control system for a 4 Degree of Freedom (DOF) robot arm by utilizing wireless communication technology based on the ESP32 microcontroller and PS3 joystick. The system is designed to be able to control four servo motors and one gripper in real-time via Bluetooth connection, thus allowing the operation of the robot without the physical limitations of cables. Tests were conducted to evaluate the system performance based on the response time (delay) and the accuracy of the servo movement angle. The test results show that the system has an average delay of 16.40% in the range of 1-10 meters, and the servo angle error ranges from 1.83% to 2.66%. In addition, the gripper showed an average opening difference of 2.9 mm, which is still within good working tolerances. The system proved to be stable, responsive, and feasible to use for education, simulation, and robotic prototype development with wireless communication.

Item Type:	Thesis (Diploma)
Uncontrolled Keywords:	4 DOF Arm Robot, Wireless Communication, Servo Control.
Subjects:	T Technology > T Technology (General) > T1-995 Technology (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering > TK1 Electrical engineering--Periodicals. Automatic control--Periodicals. Computer science--Periodicals. Information technology--Periodicals. Automatic control. Computer science. Electrical engineering. Information technology. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7885-7895 Computer engineering. Computer hardware
Divisions:	09-Faculty of Computer Science > 56401-Computer Engineering (D3)
Depositing User:	Dinda Rintic Rose
Date Deposited:	18 Jun 2025 07:40
Last Modified:	18 Jun 2025 07:40
URI:	http://repository.unsri.ac.id/id/eprint/175711

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