Pengendalian Lengan Robot untuk Proses Pemindahan Barang

Abstract

Nowadays, industry technology are developed to make productivity more efficient. The main problem that hampers the production process is using human labor. Therefore, industrial robots are developed to work more efficiently such as robots moving goods. The purpose of this research is to apply the robot arm to the process of moving goods that can be monitored and controlled remotely using Human Machine Interface (HMI). Robots require controllers as regulator of production processes such as Arduino Uno microcontroller and Programmable Logic Controller (PLC). Arduino Uno is used as a data processor from color sensor, then Arduino Uno will control the relay module which is used to communication medium with PLC. TCS230 is a color sensor that is also able to read the existence of an object. This color sensor produces digital frequencies as an output with the period that will be calculating by Arduino Uno. The object with color that have been detected will be move by the robot arm to a predetermined position. The arm of the robot moves using pneumatik and dc motors, as well as the limit switch as the x-axis position sensor of the robotic arm. The carrying of an object will be done with the air suction through a small hole that assisted by rubber lip. The pneumatik that used to suck an object has a cylindrical iron rod.