TUGAS AKHIR

PERANCANGAN ROBOT LINE FOLLOWER PRAMUSAJI

BERBASIS ARDUINO UNO

Diajukan Sebagai Syarat Menyelesaikan Tugas Akhir Program S1

Guna Mendapat Gelar Sarjana Pada Jurusan Teknik Elektro

Universitas Mercu Buana

Disusun Oleh:

Nama : Anton Julius Radjasa

NIM : 41410010026

Pembimbing : Dr.Ir. Andi Adriansyah, M Eng

PROGRAM STUDI TEKNIK ELEKTRO

FAKULTAS TEKNIK

UNIVERSITAS MERCU BUANA

JAKARTA

2014

KATA PENGANTAR

Syukur Alhamdulillah penulis panjatkan kehadirat Allah SWT .Atas segala kasih

sayang dan rahmat-Nya sehinga penulis dapat menyelesaikan Tugas Akhir ini yang berjudul

“Perancangan Robot Line Follower Pramusaji Berbasis Arduino Uno”. Laporan ini disusun

untuk dipertahankan dalam ujian siding kesarjanaan pada program studi Teknik Elektro

Fakultas Teknik Universitas Mercu Buana.

Penulis berusaha menyususn laporan tugas akhir ini dengan sebaik-baiknya

menerangkan semua data yang dibuat dan berhasil diperoleh selama penulis melakukan

perancangan robot line follower ini.

Dalam proses penyusunan laporan tugas akhir ini penulis menyadari bahwa

terwujudnya laporan ini juga karena dorongan, bantuan dan saran dari berbagai pihak. Maka

dalam kesempatan ini penulis ingin mengucapkan terima kasih kepada:

1. Allah SWT dan Rasul-Nya atas nikmat dan ridho serta petunjuk-Nya.

2. Orang tua dan keluarga tercinta yang selalu memberikan do’a dan dukungan baik

secara materi maupun moril.

3. Damar Bintoro sebagai kakak yang selalu memberikan motivasi dan dukungan lewat

materi.

4. Bapak Yudhi Gunardi, ST,MT. selaku kepala program studi serta kepala kordinator

kerja praktek.

5. Bapak Dr.Ir.Andi Adriansyah, M Eng, selaku pembimbing serta Wakil Dekan

Universitas Mercu Buana. Penulis ucapkan terimakasih atas kesabaran dan

keikhlasannya dalam membimbing serta memberikan ilmunya.

6. Ibu Dr. Elliyani selaku dosen pembina beasiswa PHKI B yang telah sangat berjasa

karena berkat beliau saya dapat melanjutkan kuliah di Universitas Mercubuana ini.

7. Saudari Putri Pratama selaku wanita yang selalu memberikan motivasi serta

perhatiannya selama ini.

8. Rekan-rekan mahasiswa Teknik Elektro Universitas Mercu Buana Angkatan 2010

yang telah berjuang bersama sama. Khususnya Heru Suwoyo, Jepri Marsudi, Achmad

Munandar, Lukman Hakim, Budi Bayu, dan Muhammad Hafizd yang telah setia

berjuang bersama, dan teman-teman lainnya yang tidak dapat dapat kami sebutkan

satu persatu.

Semoga Allah SWT yang Maha Pemurah membalas semua kebaikan yang telah

diberikan kepada penulis. Akhirnya penulis menyadari bahwa dalam penyusunan laporan

tugas akhir ini masih banyak kekurangan. Semoga laporan tugas akhir ini dapat

dikembangkan selanjutnya dan dapat bermanfaat bagi kita semua.

Jakarta, 8 Juli 2014

Penulis

Anton Julius Radjasa

DAFTAR ISI

Halaman Judul ............................................................................................................... i

Halaman Pernyataan ..................................................................................................... ii

Lembar Pengesahan ..................................................................................................... iii

Abstrak ........................................................................................................................ iv

Kata Pengantar .............................................................................................................. v

Daftar Isi ..................................................................................................................... vii

Daftar Tabel ................................................................................................................. xi

Daftar Gambar ............................................................................................................ xii

Daftar Singkatan ..........................................................................................................xv

BAB I PENDAHULUAN

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

1.2 Rumusan Masalah ................................................................................................... 2

1.3 Batasan Masalah ..................................................................................................... 3

1.4 Tujuan Perancangan ................................................................................................ 3

1.5 Metode Perancangan ............................................................................................... 3

1.6 Sistematika Penulisan ............................................................................................. 4

BAB II TEORI DASAR

2.1 Restaurant ............................................................................................................... 5

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

2.3 Robot Line Follower ............................................................................................... 6

2.4 Gambaran Umum .................................................................................................... 7

2.5 Mekanik .................................................................................................................. 7

2.5.1 Akrilik ........................................................................................................... 8

2.6 Elektrik .................................................................................................................... 8

2.6.1 Sensor Garis Menggunakan LDR ................................................................. 9

2.6.1.1 Rangkaian Sensor Garis Menggunakan LDR ............................................ 9

2.6.1.2 Cara Kerja Sensor Garis .......................................................................... 10

2.6.2 Regulator Tegangan .................................................................................... 12

2.6.2.1 Regulator 7809 ......................................................................................... 12

2.6.2.2 Regulator 7805 ......................................................................................... 13

2.6.3 Motor Driver .............................................................................................. 13

2.6.3.1 Driver H ................................................................................................... 14

2.6.4 Light Emitting Diode (LED) ....................................................................... 15

2.6.5 Light Dependent Resistor (LDR) ................................................................ 15

2.7 Komponen Pendukung .......................................................................................... 16

2.7.1 Push Button ................................................................................................. 16

2.7.1.1 Saklar Push On ........................................................................................ 19

2.7.2 LCD (Liquid Crystal Display) 2x16 ........................................................... 20

2.7.3 Forklift ........................................................................................................ 21

2.8 Mikrokontroller Sebagai Pengontrol..................................................................... 21

2.8.1 Arduino Uno ............................................................................................... 23

2.8.2 ATmega328P .............................................................................................. 25

2.8.3 Sketch IDE (Integrated Development Environtment) ................................ 26

BAB III PERANCANGAN ROBOT

3.1 Blok Diagram ........................................................................................................ 27

3.2 Lintasan Line Follower ......................................................................................... 28

3.3 Perancangan Mekanik ........................................................................................... 29

3.4 Perancangan Elektrikal ......................................................................................... 31

3.4.1 Perancangan Sensor Garis .......................................................................... 32

3.4.2 Perancangan Regulator 5V ......................................................................... 34

3.4.3 Perancangan Motor Driver L298 ................................................................ 36

3.4.4 Penggunaan LCD (Liquid Crystal Display) ............................................... 36

3.4.5 Pemilihan Mikrokontroller ......................................................................... 37

3.5 Perancangan Program ........................................................................................... 38

3.5.1 Pemrograman Motor DC pada Motor Driver L298 .................................... 39

3.5.2 Pemrograman pada Sensor Garis ................................................................ 39

3.5.3 Pemrograman pada LCD ............................................................................ 41

3.6 Flow Chart Line Follower Pramusaji .................................................................... 42

BAB IV PENGUJIAN DAN ANALISA

4.1 Umum ................................................................................................................... 44

4.2 Line Follower Pramusaji ....................................................................................... 44

4.2.1 Mekanik Line Follower .............................................................................. 45

4.2.2 Mekanik Forklift ......................................................................................... 46

4.2.3 Elektrik Line Follower ................................................................................ 46

4.2.3.1 Sensor Garis ............................................................................................. 46

4.2.3.2 Regulator .................................................................................................. 48

4.2.3.3 Motor Driver L298 .................................................................................. 48

4.3 Pengujian Robot .................................................................................................... 49

4.4 Pengujian Perangkat-Perangkat Penyusun Robot ................................................. 49

4.4.1 Pengujian Catu Daya .................................................................................. 50

4.4.1.1 Pengujian Regulator 5 Volt...................................................................... 50

4.4.1.2 Pengujian Regulator 9 Volt...................................................................... 51

4.5 Pengujian Jalannya Robot Line Follower Pramusaji ............................................ 52

4.5.1 Pengujian Line Follower Pramusaji Pada Lintasan .................................... 53

4.5.2 Pengujian Line Follower Pramusaji Secara Keseluruhan ........................... 55

4.6 Pengujian Forklift ................................................................................................. 58

BAB V PENUTUP

5.1 Kesimpulan ........................................................................................................... 61

5.2 Saran ..................................................................................................................... 61

DaftarPustaka

Lampiran

DAFTAR TABEL

Tabel 2.1 Fasilitas Pada Arduino Uno ........................................................................ 24

Tabel 3.1 Pemetaan Pin Pada Arduino Uno................................................................ 38

Tabel 4.1 Pembacaan Data Analog Pada Sensor Garis............................................... 47

Tabel 4.2 Hasil Pengujian Pada Regulator 5V ............................................................ 51

Tabel 4.3 Hasil Pengujian Pada Regulator 9V ............................................................ 52

Tabel 4.4 Hasil Pengujian Pada Line Follower Pada Lintasan Lurus Berliku ............ 54

Tabel 4.5 Hasil Pengujian Uji Keseluruhan Kerja Line Follower Pramusaji ............. 57

Tabel 4.6 Data Pengujian Forklift ............................................................................... 59

DAFTAR GAMBAR

Gambar 2.1 Contoh Restaurant ..................................................................................... 5

Gambar 2.2 Perkembangan Robot ................................................................................ 6

Gambar 2.3 Contoh Robot Line Follower .................................................................... 7

Gambar 2.4 Blok Diagram Kesatuan Kerja Robot ....................................................... 7

Gambar 2.5 Bahan Akrilik ............................................................................................ 8

Gambar 2.6 Sensor Garis Menggunakan LDR ............................................................. 9

Gambar 2.7 Rangkaian Sensor Garis Menggunakan LDR ......................................... 10

Gambar 2.8 Sensor Garis Pada Lintasan Lurus .......................................................... 10

Gambar 2.9 Kondisi Sensor Saat Berbelok ke Kanan ................................................ 11

Gambar 2.10 Kondisi Sensor Saat Berbelok ke Kiri .................................................. 11

Gambar 2.11 Rangkaian Regulator 7809 dan IC 7809 ............................................... 12

Gambar 2.12 Rangkaian Regulator 7805 dan IC 7805 ............................................... 13

Gambar 2.13 Rangkaian Driver H Bridge .................................................................. 14

Gambar 2.14 Simbol dan Fisik LED........................................................................... 15

Gambar 2.15 Bentuk Fisik LDR (Light Dependent Resistor) .................................... 16

Gambar 2.16 Macam-macam Push Button ................................................................. 17

Gambar 2.17 Push Button NO .................................................................................... 18

Gambar 2.18 Push Button NC .................................................................................... 18

Gambar 2.19 Push Button NO dan NC ....................................................................... 19

Gambar 2.20 Saklah Push ON .................................................................................... 19

Gambar 2.21 Konfigurasi LCD 2x16.......................................................................... 20

Gambar 2.22 Forklift .................................................................................................. 21

Gambar 2.23 Arduino Uno ......................................................................................... 23

Gambar 2.24 Pemetaan port ATmega 328 dengan pin Arduino Uno ......................... 25

Gambar 2.25 Sketch IDE (Integrated Development Environment) ............................ 26

Gambar 3.1 Blok Diagram Line Follower Pramusaji ................................................. 27

Gambar 3.2 Lintasan Line Follower Pramusaji .......................................................... 29

Gambar 3.3 Desain Mekanik Line Follower Pramusaji.............................................. 30

Gambar 3.4 Perancangan Mekanik Forklift ................................................................ 31

Gambar 3.5 Blok Diagram Elektrik ............................................................................ 32

Gambar 3.6 Perancangan Sensor Garis Pada ISIS Proteus ......................................... 33

Gambar 3.7 Rangkaian Sensor Garis Pada ARES ...................................................... 33

Gambar 3.8 Rangkaian regulator 5V dalam ISIS Proteus .......................................... 34

Gambar 3.9 Rangkaian Regulator 5V dalam ARES ................................................... 35

Gambar 3.10 Regulator 5V Pada Kertas Transparan .................................................. 35

Gambar 3.11 Motor Driver L298 ................................................................................ 36

Gambar 3.12 LCD (Liquid Crystal Display) 2x16 ..................................................... 37

Gambar 3.13 Program Motor Driver L298 ................................................................. 39

Gambar 3.14 Program Pembacaan Analog ................................................................. 40

Gambar 3.15 Program Pembacaan Digital.................................................................. 41

Gambar 3.16 Program LCD ........................................................................................ 41

Gambar 3.17 Flow Chart Line Follower Pramusaji .................................................... 42

Gambar 4.1 Perancangan Mekanik dan Elektrik Line Follower Pramusaji................ 45

Gambar 4.2 Akrilik Mekanik Line Follower Pramusaji ............................................. 45

Gambar 4.3 Mekanik Forklift ..................................................................................... 46

Gambar 4.4 Sensor Garis Menggunakan LDR ........................................................... 47

Gambar 4.5 Regulator ................................................................................................. 48

Gambar 4.6 Motor Driver L298 .................................................................................. 49

Gambar 4.7 Pengujian Tegangan Pada Regulator 5VDC ........................................... 50

Gambar 4.8 Pengujian Regulator 9 Volt ..................................................................... 51

Gambar 4.9 Cuplikan Program Line Follower Pramusaji Pada Track ....................... 53

Gambar 4.10 Line Follower Pramusaji Berjalan Pada Lintasan ................................. 54

Gambar 4.11 Cuplikan Program Uji Keseluruhan Robot Line Follower ................... 55

Gambar 4.12 Line Follower Pramusaji Saat Uji Keseluruhan .................................... 56

Gambar 4.13 Forklift Saat Menaikkan dan Menurunkan Beban ................................ 58