Kendali Lengan Robot Manipulator Menggunakan Kamera Stereo

  • Ary Alfianto Politeknik Negeri Batam
Keywords: kontrol robot manipulator, kamera stereo, online, offline, simulasi

Abstract

Robot Manipulator banyak digunakan dalam berbagai proses, salah satunya dibidang kedokteran. Dokter menggunakan alat bantu berupa robot manipulator sebagai alat mentranslasikan pergerakan tangan untuk melakukan pembedahan. Pada aplikasi lain, pergerakan robot manipulator menggunakan joystick dan membutuhkan kemampuan untuk mengontrol pergerakan robot. Berdasarkan pemaparan tersebut, penulis membuat sistem kendali robot manipulator menggunakan pergerakan tangan. Sistem kendali yang menghubungkan robot manipulator dengan kamera stereo menggunakan koneksi TCP IP. Metode yang digunakan dalam penelitan ini yaitu metode offline dan online. Metode offline yaitu hasil data yang diterima dari kamera stereo akan ditampilkan visual robot manipulator pada PC. Sedangkan metode online, data yang di terima dari input akan di kirim ke PC server menggunakan komunikasi TCP IP untuk mengendalikan robot manipulator. Simpulan dari hasil penelitian ini adalah robot manipulator dapat bergerak sesuai dengan pergerakan tangan secara offline maupun online. Kecepatan pergerakan robot manipulator mendekati kecepatan pergerakan tangan ketika kecepatan internal dari robot manipulator maksimal.

Downloads

Download data is not yet available.

References

Erol, A. et al., “Vision-based hand pose estimation: A review,” Computer Vision and Image Understanding, vol. 108, no. 1, pp. 52–73, 2007.

Mahtarami, A., and Hariadi, M., “Tracking Gerak Tangan Berbasis Pyramidal Lucas-Kanade”, digilib.its.ac.id, 2009.

RobotWorx, “Industrial Robot”, https://www.robots.co. [Aug 2017]

Leap Motion Developer, “Leap Motion Coordinate Mapping” https://developer.leapmotion.com. [Aug 2017]

Published
2017-10-31
How to Cite
Alfianto, A. (2017). Kendali Lengan Robot Manipulator Menggunakan Kamera Stereo. Journal of Applied Electrical Engineering, 1(1), 1-6. Retrieved from https://jurnal.polibatam.ac.id/index.php/JAEE/article/view/690
Issue
Vol 1 No 1 (2017): JAEE, October 2017
Section
Manuscripts

Authors who publish with this journal agree to the following terms:

  • Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License (Attribution-ShareAlike 4.0 International (CC BY-SA 4.0) ) that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this journal.
  • Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial publication in this journal.
  • Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).

Open Access Policy

This journal provides immediate open access to its content on the principle that making research freely available to the public supports a greater global exchange of knowledge.

Its free availability on the public internet, permitting any users to read, download, copy, distribute, print, search, or link to the full texts of these articles, crawl them for indexing, pass them as data to software, or use them for any other lawful purpose, without financial, legal, or technical barriers other than those inseparable from gaining access to the internet itself.