Ahmad, Aditiya (2025) Perancangan Driver Kontrol Motor Servo Dynamixel AX-12A Menggunakan Rangkaian Three-State Buffer Untuk Robot Hexapod. S1 thesis, Universitas Jambi.
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ABSTRAK.pdf Download (121kB) |
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BAB I.pdf Download (118kB) |
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BAB V.pdf Download (95kB) |
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COVER.pdf Download (94kB) |
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DAFTAR PUSTAKA.pdf Download (128kB) |
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FULL SKRIPSI ADITIYA.pdf Restricted to Repository staff only Download (5MB) |
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HALAMAN PENGESAHAN.pdf Download (270kB) |
Abstract
Perkembangan robotika semakin pesat, terutama dalam pengembangan robot berkaki seperti hexapod yang lebih unggul di medan tak beraturan dibandingkan robot beroda. Robot hexapod dikendalikan oleh mikrokontroler yang mengatur posisi dan kecepatan servo menggunakan sinyal (Pulse Width Modulation/PWM). Sebagai upaya meningkatkan performa, banyak robot menggunakan servo Dynamixel AX-12A dari Robotis, yang memiliki komunikasi dua arah dan protokol digital. Pada robot hexapod yang diteliti, sistem dikendalikan oleh Arduino Mega 2560 dengan bantuan mikrokontroler opencm 9.04 sebagai driver kontrol motor servo. Namun, opencm 9.04 telah dihentikan produksinya dan mengalami kenaikan harga, sehingga sulit diperoleh. Berdasarkan masalah yang diidentifikasi, penelitian ini membahas perancangan driver kontrol motor servo dengan memanfaatkan gerbang logika three-state buffer yang salah satu penerapannya berada pada integrated circuit (IC) 74LS241 sebagai alternatif untuk opencm 9.04. Pembuatan driver kontrol motor servo akan menggunakan metode ADDIE, yang meliputi analisis kebutuhan sistem, desain perangkat keras dan lunak, pengembangan driver kontrol motor servo, implementasi, serta evaluasi kinerja. Pengujian dilakukan untuk mengevaluasi kinerja driver kontrol motor servo dalam aspek pengujian sinyal logic-gate, tegangan sinyal driver kontrol motor servo, ketepatan servo, serta arus yang dihasilkan driver kontrol motor servo. Hasil pengujian menunjukkan bahwa rangkaian logika three-state buffer pada IC 74LS241 mampu menghasilkan sinyal kontrol yang sesuai dengan tabel kebenaran dalam datasheet, dengan nilai tegangan input dan output tetap berada dalam batas spesifikasi. Pengujian ketepatan servo pada 18 motor servo memiliki error 0% untuk setiap sudut uji. Dari pengukuran arus menunjukkan bahwa nilai arus yang dihasilkan tetap dalam batas aman meskipun untuk mengontrol 18 servo yang ada pada robot secara langsung. Pada pengujian pergerakan dasar, robot hexapod berhasil menyelesaikan gerakan maju, mundur, geser kanan, dan geser kiri, dengan nilai error sebagai berikut: maju = 10,9°, mundur = 4,3°, geser kanan = 13,5°, geser kiri = 8,5°. Selain itu pada pengujian gerakan putar kanan dan putar kiri, robot dapat berotasi secara penuh dan dapat kembali ke posisi awal yang telah ditentukan. Hasil menunjukkan bahwa alternatif driver kontrol motor servo menggunakan rangkaian three-state buffer dapat menggantikan OpenCM 9.04, yang ketersediaannya telah habis dan harganya meningkat di pasaran. The field of robotics is rapidly advancing, particularly in the development of legged robots such as hexapods, which outperform wheeled robots on uneven terrain. A hexapod robot is controlled by a microcontroller that regulates the position and speed of the servo motors using Pulse Width Modulation (PWM) signals. As an effort to enhance performance, many robots utilize Dynamixel AX-12A servos from Robotis, which feature bidirectional communication and a digital protocol. In the hexapod robot studied, the system is controlled by an Arduino Mega 2560, with the assistance of an OpenCM 9.04 microcontroller as the motor servo control driver. However, OpenCM 9.04 has been discontinued and has experienced a price increase, making it difficult to obtain. Based on these identified issues, this research discusses the design of a motor servo control driver utilizing a three-state buffer logic gate, which is implemented in the integrated circuit (IC) 74LS241, as an alternative to OpenCM 9.04. The development of the motor servo control driver follows the ADDIE methodology, which includes system requirements analysis, hardware and software design, motor servo control driver development, implementation, and performance evaluation. Testing was conducted to evaluate the performance of the motor servo control driver in terms of logic-gate signal testing, control driver signal voltage, servo accuracy, and current output. The test results indicate that the three-state buffer logic circuit using IC 74LS241 successfully generates control signals that align with the truth table in the datasheet, with input and output voltage values remaining within specifications. Servo precision testing on 18 servo motors resulted in 0% error for each tested angle. Current measurements confirmed that the driver maintains safe current levels even when directly controlling all 18 servos on the robot. In basic movement tests, the hexapod robot successfully executed forward, backward, right shift, and left shift movements, with the following error values: forward = 10.9°, backward = 4.3°, right shift = 13.5°, left shift = 8.5°. Additionally, in right and left rotation tests, the robot completed full rotations and returned to its predetermined initial position. The results demonstrate that the alternative motor servo control driver using a three-state buffer circuit can effectively replace OpenCM 9.04, which is no longer available and has increased in price in the market.
| Type: | Thesis (S1) |
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| Uncontrolled Keywords: | Three-state buffer, driver kontrol motor servo, robot hexapod |
| Subjects: | L Education > L Education (General) |
| Divisions: | Fakultas Teknik > Teknik Elektro |
| Depositing User: | AHMAD |
| Date Deposited: | 21 Apr 2025 08:12 |
| Last Modified: | 21 Apr 2025 08:12 |
| URI: | https://repository.unja.ac.id/id/eprint/77594 |
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