Saputro, Hendriawan Dwi (2018) Implementasi Real Time Pada Pergerakan Robot Quadruped Menggunakan Multisensor Dan Rtos. Sarjana thesis, Universitas Brawijaya.
Abstract
Perkembangan teknologi dalam dunia robotika terus mengalami perkembangan pesat, salah satunya pengembangan sistem kontrol robot seperti peningkatan kecepatan eksekusi program maupun performa prosesor yang semakin baik memungkinkan pemakaian Real Time Operating System (RTOS) pada embedded system. Peningkatan performa dibutuhkan oleh robot agar robot dapat memenuhi target yaitu ketepatan dalam bergerak dan kecepatan waktu eksekusi. Dengan perkembangan penerapan RTOS dalam penelitian ini akan mengimplementasikan RTOS pada embedded system yaitu pergerakan robot quadruped. RTOS yang digunakan dalam penelitian ini ialah FreeRTOS karena sistem tersebut sudah tersedia dalam mikrokontroler Arduino dan untuk tipe RTOS ialah soft realtime operating system yang memberi toleransi ketika robot tidak sesuai waktu eksekusi. RTOS dalam sistem akan diterapkan pada pengambilan data sensor dan proses pengolahan data untuk mengambil keputusan. Robot dalam penelitian ini memiliki alat gerak berjumlah empat kaki atau bisa disebut robot quadruped yang tersusun dari komponen HC-SR04, Arduino Mega 2560, OpenCM9.04 dan OpenCM485 dan servo AX-12. Dari hasil penelitian robot memiliki ketepatan dalam bergerak yang cukup bagus ketika menerapkan Real Time Operating System.
English Abstract
Technological developments in robotics experience rapid development continuously, one of them the development of robot control systems such as increased program execution speed and better processor performance allows the use of Real Time Operating System (RTOS) in embedded systems. Improved performance is required by the robot so that the robot can reach the target of precision in moving and speed time execution. By the development of RTOS application in this research, it will apply RTOS in embedded system that is movement of quadruped robot. The RTOS used in this study is FreeRTOS because the system is already available in the Arduino microcontroller. For the RTOS type, it is a soft realtime operating system which tolerates when the robot does not match the execution time. RTOS in the system will be applied to the data retrieval of sensors and data processing for decision making. The robot in this study has a fourfoot motion tool or can be called a quadruped robot composed of components HCSR04, Arduino Mega 2560, OpenCM9.04 and OpenCM485 and servo AX-12. From the results of the study, robots have pretty good precision in moving when applying Real Time Operating System.
| Item Type: | Thesis (Sarjana) |
|---|---|
| Identification Number: | SKR/FTIK/2018/589/051808445 |
| Uncontrolled Keywords: | robot quadruped, real time operating system, freeRTOS, embedded system quadruped robot, real time operating system, freeRTOS, embedded system |
| Subjects: | 600 Technology (Applied sciences) > 629 Other branches of engineering > 629.8 Automatic control engineering > 629.89 Computer control > 629.892 Robots |
| Divisions: | Fakultas Ilmu Komputer > Teknik Informatika |
| Depositing User: | Budi Wahyono Wahyono |
| Date Deposited: | 11 Dec 2018 02:28 |
| Last Modified: | 21 Oct 2021 04:23 |
| URI: | http://repository.ub.ac.id/id/eprint/14072 |
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