Implementasi Teori Finite State Machine Pada Sistem Kontrol Robot Lengan Berbasis Arduino dan Python

Dino Erivianto; Ahmad Dani

doi:10.31004/riggs.v4i4.3892

Authors

Dino Erivianto Universitas Pembangunan Pancabudi
Ahmad Dani Universitas Pembangunan Pancabudi

DOI:

https://doi.org/10.31004/riggs.v4i4.3892

Keywords:

Finite State Machine, Robot Lengan, Arduino, Python, Sistem Kontrol, Otomasi, Mikrokontroler, Pick-And-Place

Abstract

Robot lengan merupakan salah satu perangkat otomasi yang memerlukan sistem kontrol presisi untuk menjalankan serangkaian operasi yang kompleks. Finite State Machine (FSM) menawarkan pendekatan sistematis dalam merancang logika kontrol yang terstruktur dan mudah dipelihara. Penelitian ini mengimplementasikan teori FSM pada sistem kontrol robot lengan menggunakan platform Arduino sebagai pengendali perangkat keras dan Python sebagai antarmuka pemrograman tingkat tinggi. Metode yang digunakan meliputi perancangan diagram state untuk memodelkan berbagai kondisi operasional robot, implementasi algoritma transisi state pada mikrokontroler Arduino Mega 2560, dan pengembangan antarmuka berbasis Python untuk monitoring dan kontrol. Sistem dirancang dengan lima state utama: Idle, Initialization, Pick, Move, dan Place, dengan mekanisme transisi yang responsif terhadap input sensor dan perintah pengguna. Hasil pengujian menunjukkan bahwa implementasi FSM menghasilkan waktu respons rata-rata 127 milidetik dengan akurasi posisi mencapai 98,3 persen untuk operasi pick-and-place. Konsumsi daya sistem berkisar antara 4,2 hingga 6,8 watt tergantung pada state operasional. Sistem mampu menangani 450 siklus operasi kontinu tanpa error dengan tingkat keberhasilan 97,8 persen. Integrasi Arduino dan Python melalui komunikasi serial memungkinkan kontrol real-time dengan latensi minimal. Penelitian ini membuktikan bahwa FSM merupakan metode yang efektif untuk mengimplementasikan sistem kontrol robot lengan yang handal, efisien, dan mudah dikembangkan lebih lanjut untuk aplikasi industri maupun edukasi.

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