IMPLEMENTASI SERVO 5 DEGREE OF FREEDOM PADA SISTEM LENGAN HUMANOID ROBOT MENGGUNAKAN METODE FUZZY LOGIC

SANDI, DARMA and Suprapto, Bhakti Yudho (2022) IMPLEMENTASI SERVO 5 DEGREE OF FREEDOM PADA SISTEM LENGAN HUMANOID ROBOT MENGGUNAKAN METODE FUZZY LOGIC. Undergraduate thesis, Sriwijaya University.

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Abstract

Humanoid robots are evidence of the rapidly advancing technology in the field of robotics. Humanoid robots that are increasingly sophisticated have replaced jobs that require a lot of human labor, one of which is the use of robotic arms. Robot arms in general have not been able to interact with humans directly, the lack of effective and efficient starting from the materials used to the reach of the robot arm that is too close. Therefore, this research robot arm was made using filament material as the framework of the robot arm, implemented a robotic arm with 5 DOF (Degree Of Freedom) which was designed using a proximity sensor and camera as input to the robot arm using the Sugeno fuzzy logic method as control of the robot arm. movement of the robot arm in making decisions to move objects. In this study, the humanoid robot arm has been able to grip and move objects from one place to another in a time that varies according to the type of object such as a mineral water bottle with a time of 70 seconds, aqua glass 47 seconds, the length of time obtained depends on the sensor reading. distance on the gripper. In this study, the humanoid robot arm was able to shake hands with humans in real time with a time of 36 seconds. This proves that the Sugeno fuzzy method works well.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Servo Hitec hs-805MG, Lengan robot 5 DOF, Lengan Humanoid Robot, Humanoid Robot, Logic Fuzzy.
Subjects:	T Technology > T Technology (General) > T1-995 Technology (General)
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Darma Sandi
Date Deposited:	14 Jul 2022 06:52
Last Modified:	14 Jul 2022 06:52
URI:	http://repository.unsri.ac.id/id/eprint/73826

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