INNOVATION OF ELECTRONICS INSTRUMENTATION TELE-LAB BASED ON ROBOTIC ARM AND INTERNET OF THINGS

• Main Author: Ariesta Sasmono, Rio
• Format: Final Project
• Language: Indonesia
• Subjects: Teknik (Rekayasa, enjinering dan kegiatan berkaitan)
• Online Access: https://digilib.itb.ac.id/gdl/view/79275
• Institution: Institut Teknologi Bandung

The COVID-19 Pandemic has caused many college students unable to access campuses, making them unable to do laboratory practices needed to support their studies. A method for the students to be able to do laboratory practices while unable to access campus is needed. In this research, a Tele-Lab based on a robotic arm and Internet of Things is built that will be able to give students access to laboratory practice from afar, specifically electronic circuit practices. The Tele-Lab was created based on practice modules within the Engineering Physics ITB Laboratory I subject. The Tele-Lab created uses a DOBOT Magician robotic arm that is controlled using a Raspberry Pi single-board computer. A practice kit has been designed to be able to be manipulated by this robotic arm. The components used within the electronic circuits being tested are housed within boxes with copper contacts to be moved and assembled into circuits on the kit by the robotic arm. Measurement on the circuit and kit is done using an Arduino Mega microcontroller which sends signals through a digital-to-analogue converter and measures on different locations chosen using multiplexers. The robotic arm has two main modes of movement, which are movements where the motors move individually and movements within a straight line where the motors work together. Several trajectories are designed based on these modes of movement. The user interface is created using the Node-Red software which is connected to the physical system through the MQTT protocol. The Raspberry Pi sends commands to the robotic arm using APIs in the Python Programming Language. Graph traversal algorithms are used to determine the movement sequence of the robotic arm which are sent in through the user interface. The graph traversal algorithms that were tested were Dijkstra’s Shortest Path Algorithm and The Best-First Search algorithm. Testing was done on each part of the created system. For the robotic arm, performance tests were done to determine the optimum mode of movements as well as accuracy and repeatability tests. The graph traversal algorithms were also tested to determine the best algorithm for the created Tele-Lab system. On the practice kit, tests on the measurement sensors were done. With the results of these tests, 3 circuits were tested, which are a resistor and potentiometer assembled in series, a CR-RR circuit, and an active low-pass filter. For the robotic arm, it was found that the mode of movement combining the movement of individual motors and straight-line movement with a trajectory that raises the robotic arm end-effector, moving it horizontally, and lowering the end-effector. From the accuracy tests, we found that the robotic arm has a good horizontal position accuracy with errors close to 0mm, and a vertical position accuracy with errors close to 3mm. It was also found that the robotic arm does not have a consistent time or speed repeatability. The optimum graph traversal algorithm was the best-first search algorithm because of the vastly faster computation speed compared to Dijkstra’s Shortest Path Algorithm, which is under 1ms. The tests on the sensors show that the sensors are ready to be used within the Tele-Lab system, although an average error of 0,12V was found. Testing on the three circuits show that the Tele-Lab system can run the three circuits well. All three circuits show outputs appropriate to each of the circuits. In conclusion, the Tele-Lab system can be used to run simple electronic circuit practices.