Pengendalian gerakan manipulator berbasis mikrokontroler ATMEL 89S51
P erkembangan teknologi sekarang ini memungkinkan sebuah kendali untuk memanipulasi kerja manusia, dimana kendali ini dapat digunakan untuk mempermudah kegiatan manusia. Beberapa contoh manipulasi pengendalian pekerjaan manusia seperti peletakan benda, pembuatan film, dan pekerjaan lain yang menuntut posisi tertentu yang sulit dijangkau oleh manusia tanpa peralatan.Pada penulisan tugas akhir ini akan dibahas mengenai pengendali gerakan manipulatoruntuk pengaturan gerak yang dapat membawa operator agar dapat menunjang gerakan juru kamera dalam mengoperasikan kamera. Pergerakan pada sendi manipulator diatur oleh sensor optocoupler yang menggunakan 3 buah motor DC untuk bagian atas dan 3 buah motor DC gearbox untuk bagian dasar serta bagian tengah. Pengendali pergerakan manipulator ini dikendalikan oleh manusia dengan menggunakan keypad yang dihubungkan ke mikrokontroler atmel 89S5l. Pada keypad terdapat indikator untuk bagian motor yang akan digerakan .Berdasarkan pengukuran diperoleh kecepatan translasi model manipulator, kecepatan rotasi lengan manipulator, kecepatan naik dan turunnya lengan manipulator , kecepatan translasi dari penyangga , dan kecepatan dari end effector. Ruang gerak yang diperoleh berbentuk tabung yang berjarak 30 centimeter dari dasar. Dalam sistem diperoleh kecepatan setiap pergerakan dari model manipulator, pergerakan dari model manipulator meliputi gerakan translasi, rotasi, dan naik-turun.
T he development of this current technology enabled a control to manipulate thework of humankind. where this ontrol could be used to facilitate the human activity.Several examp:c.s of the manipulation of the control of t111. work of humankind like the layingof the object, the production of the film, and the other work that demanded the certainposition that was difficult to be covered by humankind without quipment.In th writing of the task of this end will be di scussed about the manager of the movement of the manipulator for the movement regulation that could bring the operator in order to be abl e t8 support the movement of the camer::i.man in operating the camera. The movement was in the fou '.1dation of the manipulator arranged by the censor optocoupler that made '.lse of 3 DC motor for the upper part and 3 DC motors gearbox for the basic part as well as the middle . The manager of the movement of this manipulator was controlled by humankind with used keypad that was connected to mi krok8ntroler atmel 89S5 l.To keypad was gotten by the indicator for the motor pa1t that will be moved .Was based on the grating was received by the speed of the translation of the manipulator's model, the speed of the rotation of the manipulator's arms, the speed rose and the fall of the manipulator's arms, the speed of the translation from the support, and the speed from end effer,tor. Roow to move that was received had the shape of the tube that be at a distance 30 entimeter from thP. foundation. In the system was received by the speed of each movement from the maniµulator's model, the movement from the manipulator's model covered the mJvement of the translation, the rotation , and travel by-descended.