DAFTAR ISI

halaman

HALAMAN JUDUL

PERNYATAAN KEASLIAN KARYA TUGAS AKHIR

PERSETUJUAN DOSEN PENGUJI SKRIPSI

PERSETUJUAN DOSEN PEMBIMBING SKRIPSI

PERNYATAAN PERSETUJUAN PUBLIKASI KARYA TUGAS AKHIR

UNTUK KEPENTINGAN AKADEMIS

ABSTRAK.............................................................................................................vi

ABSTRACT...........................................................................................................vii

KATA PENGANTAR.........................................................................................viii

DAFTAR ISI...........................................................................................................x

DAFTAR GAMBAR...........................................................................................xiv

DAFTAR TABEL...............................................................................................xvi

DAFTAR LAMPIRAN......................................................................................xvii

BAB I PENDAHULUAN

1.1 Latar Belakang....................................................................................1

1.2 Rumusan Masalah...............................................................................3

1.3 Tujuan Penelitian................................................................................3

1.4 Manfaat Pendelitian............................................................................4

1.5 Pembatasan Masalah...........................................................................4

BAB II LANDASAN TEORI

2.1 Robot...................................................................................................6

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 2.2 Robot Manipulator..............................................................................6

2.3 Kinematika Robot...............................................................................7

2.4 Komputer Papan Tunggal...................................................................8

2.5 Mikrokontroler..................................................................................10

2.6 Motor Stepper...................................................................................12

2.6.1 Motor Stepper Unipolar..........................................................13

2.6.2 Motor Stepper Bipolar............................................................13

2.7 Kamera Digital..................................................................................14

2.8 Pengolahan Gambar Digital dan Computer Vision...........................15

2.9 Sistem Kecerdasan Buatan................................................................18

BAB III METODOLOGI PENELITIAN

3.1 Konsep Dasar....................................................................................21

3.2 Perancangan Hardware.....................................................................23

3.2.1 Rangkaian Raspberry Pi dan Kamera...................................23

3.2.2 Rangkaian Komunikasi Serial Raspberry Pi dan Arduino....23

3.2.3 Rangkaian Driver Motor dan Motor Stepper........................24

3.2.4 Perancangan Mekanika Lengan Robot..................................25

3.2.5 Rangkaian Limit Switch.........................................................27

3.3 Perancangan Software.......................................................................28

3.3.1 Perancangan Metode Pendeteksian Tulisan pada Papan Tulis

...............................................................................................28

3.3.2 Perancangan Metode Pengenalan Angka dan Operasi Hitung

...............................................................................................29

3.3.2.1 Perancangan Arsitektur Jaringan Saraf Tiruan......29

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 3.3.3 Perancangan Metode Perhitungan Soal yang Telah Dikenali

Sistem....................................................................................31

3.3.4 Perancangan Metode Pengiriman Data dari Rasperry Pi ke

Modul Arduino......................................................................32

3.3.5 Perancangan Metode Konversi Koordinat Piksel Menjadi

Koordinat Cartesius...............................................................33

3.3.6 Perancangan Metode Perhitungan Sudut Pergerakan Lengan

Robot.....................................................................................34

BAB IV ANALISIS DAN PEMBAHASAN

4.1 Pengujian Metode Pendeteksian Tulisan pada Papan Tulis..............38

4.1.1 Tujuan Pengujian..................................................................38

4.1.2 Alat-alat yang Dibutuhkan....................................................38

4.1.3 Prosedur Pengujian................................................................38

4.1.4 Hasil Pegujian.......................................................................39

4.1.5 Analisis Hasil Pengujian.......................................................40

4.2 Pengujian Metode Pengenalan Angka dan Operasi Hitung..............40

4.2.1 Tujuan Pengujian..................................................................40

4.2.2 Alat-alat yang Dibutuhkan....................................................40

4.2.3 Prosedur Pengujian................................................................40

4.2.4 Hasil Pengujian.....................................................................41

4.2.5 Analisis Hasil Pengujian.......................................................42

4.3 Pengujian Metode Perhitungan Soal yang Telah Dikenali Sistem.. .42

4.3.1 Tujuan Pengujian..................................................................42

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 4.3.2 Alat-alat yang Dibutuhkan....................................................43

4.3.3 Prosedur Pengujian................................................................43

4.3.4 Hasil Pengujian.....................................................................43

4.3.5 Analisis Hasil Pengujian.......................................................44

4.4 Pengujian Metode Pengiriman Data dari Raspberry Pi ke Modul

Arduino.............................................................................................44

4.4.1 Tujuan Pengujian..................................................................44

4.4.2 Alat-alat yang Dibutuhkan....................................................44

4.4.3 Prosedur Pengujian................................................................44

4.4.4 Hasil Pengujian.....................................................................45

4.4.5 Analisis Hasil Pengujian.......................................................46

4.5 Pengujian Metode Konversi Nilai Koordinat Piksel Menjadi Nilai

Koordinat Cartesius..........................................................................46

4.5.1 Tujuan Pengujian..................................................................46

4.5.2 Alat-alat yang Dibutuhkan....................................................46

4.5.3 Prosedur Pengujian................................................................46

4.5.4 Hasil Pengujian.....................................................................47

4.5.5 Analisis Hasil Pengujian.......................................................48

4.6 Pengujian Driver Motor Stepper dan Motor Stepper........................48

4.6.1 Tujuan Pengujian..................................................................48

4.6.2 Alat-alat yang Dibutuhkan....................................................48

4.6.3 Prosedur Pengujian................................................................48

4.6.4 Hasil Pengujian.....................................................................49

4.6.5 Analisis Hasil Pengujian.......................................................50

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 4.7 Pengujian Metode Perhitungan Sudut Pergerakan Lengan Robot....51

4.7.1 Tujuan Pengujian..................................................................51

4.7.2 Alat-alat yang Dibutuhkan....................................................51

4.7.3 Prosedur Pengujian................................................................51

4.7.4 Hasil Pengujian.....................................................................52

4.7.5 Analisis Hasil pengujian.......................................................53

BAB V KESIMPULAN

5.1 Kesimpulan.......................................................................................54

DAFTAR PUSTAKA...........................................................................................55

LAMPIRAN...........................................................................................................A

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