No.

Skripsi
Bidang**)

KONTROL STEERING FORWARD AND

BACKWARD PADA ROBOT AGV
(AUTOMATED GUIDED VEHICLE)
DENGAN JALUR POINT TO POINT
MENGGUNAKAN METODE PID

Pembuat Proposal :

FENZA MAULANA Nim : 1241170065

Telah diperiksa oleh tim seleksi :

Nama Nip Hasil Tanda tangan

Diterima / Diterima
dengan Revisi/
Ditolak *)

Catatan :
(Jika kurang, gunakan halaman baliknya)

Keterangan :
*) Coret yang tidak perlu
**) Bidang diisi oleh Koordinator Ruang

ii
 KATA PENGANTAR

Puji syukur kehadirat Tuhan Yang Maha Esa yang telah melimpahkan

rahmat dan hidayahNya yang tak pernah putus kepada saya sehingga dapat

menyelesaikan Proposal Skripsi. Pada kesempatan ini dengan segala kerendahan

hati penulis ingin menyampaikan terima kasih kepada yang terhormat:

1) Ir. Tundung Subali Patma selaku Direktur Politeknik Negeri Malang

2) Bapak Supriatna Adhisuwignjo, ST., MT selaku Ketua Jurusan Teknik

Elektro Politeknik Negeri Malang

3) Bapak Totok Winarno, Ir., MT selaku KPS D – IV Teknik Elektronika

Politeknik Negeri Malang

4) Seluruh staff dosen dan karyawan Polteknik Negeri Malang yang telah

memberikan arahan dan bimbingan kepada kami selama masa perkuliahan

dan penyusunan proposal ini.

Penulis menyadari bahwa proposal ini masih banyak kekurangan dalam

penulisan maupun penyajiannya. Oleh karena itu, kritik dan saran yang bersifat

membangun sangat penulis harapkan untuk menyempurnakan penulisan-penulisan

di kemudian hari. Akhir kata, semoga laporan ini dapat bermanfaat bagi pembaca

semua untuk menambah pengetahuan.

Malang, 26 November 2015

Penulis

iii
 DAFTAR ISI

HALAMAN JUDUL
LEMBAR PERSETUJUAN................................................................................... ii
KATA PENGANTAR............................................................................................
.................................................................................................................................
iii
DAFTAR ISI........................................................................................................... iv
DAFTAR GAMBAR.............................................................................................. vi
DAFTAR TABEL...................................................................................................
.................................................................................................................................
vii
BAB I PENDAHULUAN
1.1 Latar Belakang ............................................................................... 1
1.2 Rumusan Masalah........................................................................... 3
1.3 Batasan Masalah.............................................................................. 3
1.4 Tujuan.............................................................................................. 4
1.5 Manfaat............................................................................................. 4
1.6 Luaran LA....................................................................................... 5

BAB II TINJAUAN PUSTAKA

2.1 AGV................................................................................................ 6
2.1.1 Sistem Navigasi AGV............................................................ 7
2.2 Metode PID..................................................................................... 8
2.3 Sensor Ultrasonic............................................................................
.........................................................................................................
10
2.4 Motor DC GearBox.........................................................................
.........................................................................................................
12

iv
2.5 Display LCD...................................................................................
.........................................................................................................
14
2.6 Motor DC........................................................................................
.........................................................................................................
16
2.6.1 Mekanisme Kerja Motor DC..................................................
.........................................................................................................
16
2.6.2 Komponen Utama Motor DC.................................................
.........................................................................................................
18
2.7 Sensor Kompas CMPS03................................................................
.........................................................................................................
19
2.8 Buzzer..............................................................................................
.........................................................................................................
21
2.9 Embedded System........................................................................... .
.........................................................................................................
22
2.10 Baterai (Accu)................................................................................
.........................................................................................................
23
2.10.1 Fungsi Baterai .....................................................................
.........................................................................................................
23
2.10.2 Konstruksi Baterai ...............................................................
.........................................................................................................
23

v
 2.11 Metal Detector ...............................................................................
.........................................................................................................
25
2.12 Rotary Encoder...............................................................................
.........................................................................................................
27
2.12.1 Konstruksi Rotary Encoder .................................................
.........................................................................................................
27
2.12.2 Incremental Rotary Encoder ................................................
.........................................................................................................
28
2.12.3 Absolute Rotary Encoder .....................................................
.........................................................................................................
29

BAB III METODE PENYELESAIAN MASALAH

3.1 Penyelesaian Masalah......................................................................

.........................................................................................................
31

3.2 Diagram Blok..................................................................................

.........................................................................................................
33

3.3 Prinsip Kerja....................................................................................

.........................................................................................................
35

3.4 Spesifikasi Alat yang Direncanakan...............................................

.........................................................................................................
36

3.5 Daftar Komponen dan Perkiraan Harga..........................................

.........................................................................................................
37

vi
 3.6 Jadwal Pelaksanaan/Rencana Kegiatan...........................................
.........................................................................................................
39

DAFTAR PUSTAKA ............................................................................................

.................................................................................................................................
40

LAMPIRAN ...........................................................................................................
.................................................................................................................................
42

DAFTAR GAMBAR

Gambar 2.1 AGV......................................................................................................

Gambar 2.2 Sistem Umpan Balik pada PID.............................................................

Gambar 2.3 Sensor Ultrasonic HC-SR04.................................................................

Gambar 2.4 Timing Diagram Sensor Ultrasonic.....................................................

vii
Gambar 2.5 Motor DC Gearbox...............................................................................

Gambar 2.6 LCD 16 x 2...........................................................................................

Gambar 2.7 Motor DC..............................................................................................

Gambar 2.8 Sensor Magnetic Kompas CMPS-03....................................................

Gambar 2.9 Rangkaian Aplikasi Dari Sensor Magnetic Kompas CMPS03............

Gambar 2.10 Buzzer.................................................................................................

Gambar 2.11 Konstruksi Baterai (accu) ..................................................................

Gambar 2.12 Sensor Metal.......................................................................................

Gambar 2.13 Ilustrasi Incremental Rotary Encoder.................................................

Gambar 2.14 Ilustrasi Absolute Rotary Encoder......................................................

Gambar 3.1 Flowchart Aliran Penelitian..................................................................

Gambar 3.2 Diagram Blok Sistem Robot AGV........................................................

Gambar 3.3 Blok Diagram Kontrol Steering Forward and Backward....................

Gambar 3.4 AGV dalam Tampilan 3D.....................................................................

Gambar 3.5 Diagram Blok Sistem Robot AGV........................................................

DAFTAR TABEL

Tabel 2.1 Spesifikasi Sensor HC-SR04....................................................................

Tabel 3.1 Daftar Komponen dan Perkiraan Harga...................................................

Tabel 3.2 Jadwal Pelaksanaan atau Rencana Kegiatan............................................

viii