R.A.

SALSAFITRI
1 NE
062130601537

DAFTAR ISI
HALAMAN
Halaman Judul..................................................................................................................... i
Halaman Pernyataan Orisinalitas......................................................................................... ii
Halaman Pengesahan........................................................................................................... iii
Halaman pernyataan Persetujuaan Re-Publikasi................................................................. iv
Kata Pengantar .................................................................................................................... v
Abstrak................................................................................................................................. vii
Abstract................................................................................................................................ viii
Motto................................................................................................................................... ix
Daftar isi ............................................................................................................................. x
Daftar Gambar..................................................................................................................... xiii
Daftar Tabel......................................................................................................................... xiv
Daftar Grafik........................................................................................................................ xv
Daftar Lampiran ................................................................................................................. xvi

BAB I PENDAHULUAN
1.1. Latar Belakang.............................................................................................................. 1
1.2. Perumusan Masalah...................................................................................................... 2
1.3. Pembatasan Masalah..................................................................................................... 2
1.4. Tujuan dan Manfaat...................................................................................................... 3
1.4.1. Tujuan................................................................................................................. 3
1.4.2. Manfaat .............................................................................................................. 3
1.5 Metode penulis.............................................................................................................. 3
1.5.1. Metode Referensi ............................................................................................... 3
1.5.2. Metode Wawancara............................................................................................ 3
1.5.3. Metode Eksperimen............................................................................................ 3
 1.5.4. Metode Analisa................................................................................................... 3

BAB II TINJAUAN PUSTAKA

2.1. Robot Berkaki............................................................................................................... 4
2.2. Fuzzy Logic................................................................................................................... 5
2.2.1. Model Fuzzy Sugeno.......................................................................................... 6
2.3. PID (Proportional Integral Derivative)....................................................................... 7
2.3.1. Pembelajaran Aksi Kontrol Proportional........................................................... 9
2.3.2. Pembelajaran Aksi Kontrol Integral................................................................... 10
2.3.3. Pembelajaran Aksi Kontrol Derivative............................................................... 10
2.4. Sensor Sharp GP2D120................................................................................................ 10
2.5. Sensor Flame Array...................................................................................................... 12
2.6. Motor Servo.................................................................................................................. 13
2.7. Mikrokontroler Teensy................................................................................................. 14
2.8. OpenCM 9.04............................................................................................................... 16
2.9. Arduino......................................................................................................................... 18
2.9.1. Sejarah Arduino ................................................................................................. 18
2.9.2. Pemrograman Arduino....................................................................................... 19
2.10. Motor Servo................................................................................................................ 22
2.11. Sofware MATLAB..................................................................................................... 22

BAB III METODOLOGI PENELITIAN

3.1. Kerangka Tugas Akhir.................................................................................................. 24
3.2. Pengembangan Perangkat Keras.................................................................................. 25
3.2.1. Perangkat Elektronik........................................................................................ 26
3.2.2.1. Blok Diagram...................................................................................... 26
3.2.2. Perangkat Mekanik........................................................................................... 28
3.3. Pengembangan Prangkat Lunak................................................................................... 30
3.3.1. Flowchart......................................................................................................... 30
3.4. Metode PID (Proportional Integral Derivative).......................................................... 32
3.5. Hasil Simulasi Pengujian Softwer MATLAB.............................................................. 33

BAB IV HASIL DAN PEMBAHASAN

4.1. Langkah-langkah Pengoprasian.................................................................................... 38
4.1.1. Alat-alat Pendukung Pengukuran..................................................................... 38
4.1.2. Langkah-langkah Pengembalian Data.............................................................. 41
4.1.3. Implementasi Hardware................................................................................... 41
4.1.4. Langkah-langkah Pengembilan Data............................................................... 36
4.1.5. Implementasi Software..................................................................................... 37
4.2. Pengujian Driver Servo OpenCM 9.04......................................................................... 42
4.2.1. Tujuan Pengujian............................................................................................. 42
4.2.2. Alat yang Dibutuhkan...................................................................................... 42
4.2.3. Prosedur Pengujian........................................................................................... 42
4.2.4. Hasil Pengujian................................................................................................ 42
4.3. Pengujian Mikrokontroler Teensy................................................................................ 43
4.3.1. Tujuan Pengujian............................................................................................. 43
 4.3.2. Ha Alat yang Dibutuhkan................................................................................. 43
4.3.3. Prosedur Pengujian........................................................................................... 43
4.3.4. Hasil Pengujian................................................................................................ 43
4.4. Pengujian Sensor Sharp GP2D120............................................................................... 44
4.4.1. Tujuan Pengujian............................................................................................. 44
4.4.2. Ha Alat yang Dibutuhkan................................................................................ 44
4.4.3. Prosedur Pengujian........................................................................................... 44
4.4.4. Hasil Pengujian................................................................................................ 44
4.5. Pengujian Kendali PID................................................................................................. 45
4.5.1. Tujuan Pengujian................................................................................. 45
4.5.2. Ha Alat yang Dibutuhkan.................................................................... 45
4.5.3. Prosedur Pengujian............................................................................... 45
4.5.4. Hasil Pengujian.................................................................................... 46
4.6. Analisa.......................................................................................................................... 48

BAB V PENUTUP
5.1. Kesimpulan................................................................................................................... 51
5.2. Saran............................................................................................................................. 51

DAFTAR PUSTAKA........................................................................................................ 52
DAFTAR LAMPIRAN ..................................................................................................... 54
LAMPIRAN A Program Robot Pemadam Api Quadruped............................................... L1
LAMPIRAN B Data Sheet Sensor Sharp GP2D120.......................................................... L11
LAMPIRAN C Data Sheet Motor Servo Dinamixel ......................................................... L20
LAMPIRAN D Data Sheet Mikrokontroler Teensy........................................................... L38
LAMPIRAN E Data Sheet UBEC...................................................................................... L49
LAMPIRAN F Data Sheet OpenCM 9.04.......................................................................... L41