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Abstract: <br /> <br /> <br /> <br /> <br /> This final project is about to develop an actuation conrolled system software of mobile base robot. This system is built in order to control the mobile base robot directly. <br /> <br /> <br /> <...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/7894 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Abstract: <br />
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This final project is about to develop an actuation conrolled system software of mobile base robot. This system is built in order to control the mobile base robot directly. <br />
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To design and implement this mobile base actuation controlled need two phases. First is design and implementation of the platform and its hardware. Second is design and implementation of the software which support robot controlled. The platform has three levels and eight-sided. First level is to put power supply and actuator. The second is for electronical devices, and the third is for laptop as the brain. Mobile base robot is designed base to differential steering control system so that it can move forward, move backward, and turn right or left. Meanwhile the motor actuation controlled system uses PWM method. The hardware consists of two main systems which are actuator and controller.Actuator uses DC DGM-3255. IC L298 is used to control the motor. Omni-directional wheel HW-8 cm-roller is used to keep balance dynamic all the way. The controller uses one microcontroller and ATMEGA 32L and a laptop.This microcontroller receives order from laptop which come from user. Serial RS-232 is used as an interface between microcontroller and laptop. The software in laptop has a function as the main control of the robot actuation which is made with Delphi 7. GUI (Graphic User Interface) is used as an interface between user and software. With this software, user can control the movement of the robot included forward, backward, turn right or turn left. <br />
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Based on the test result, the hardware and software of this mobile base robot has been succesfully integrated. Mobile base can move forward and backward with five different choice of distances and also tun right or left with six different degrees. <br />
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