ROBOT LENGAN 3 DOF DENGAN INPUT SINYAL EMG

SAPUTRA, ANDREAS WIDYA and Wardana, Paulus Susetyo and Rokhana, Rika and ., Kemalasari (2010) ROBOT LENGAN 3 DOF DENGAN INPUT SINYAL EMG. EEPIS Final Project.

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Abstract

With the development of science in the field of bio-engineering Medika, observation of human organs, both inside and all the skin layers can be observed, one of which is the observations made to determine muscle activity, which in this study muscle activity will be used as input to drive 3 DOF robot manipulator. Third motor contained in the manipulator arm to replace three joints contained in the human arm to be controlled by three pieces ATMega microcontroller 32, which moves the arm in this study only konsatan speed, which is used to regulate the speed of digital PID controller. Robot arm motion will imitate the human arm movements in which the electrode-electrode is mounted on hand to watch his man's arm was moving, then to be made in the insert to determine the direction of the robot where the robot upward or downward will use an additional tool in the form of aluminum, which ranks inserted in the arm, where at each joint there is a potentiometer which will result potentiometer readings through the ADC pin microcontroller determines whether the direction of the robot to rise or fall. Keywords: muscle activity, PID, 3DoF, ADC

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