PERANCANGANPROTOTYPE UNDERWATERROBOTJENISREMOTELY OPERATED VEHICLEMENGGUNAKAN TELECOMMAND

Nurliany, Annisa Sucianti (2015) PERANCANGANPROTOTYPE UNDERWATERROBOTJENISREMOTELY OPERATED VEHICLEMENGGUNAKAN TELECOMMAND. S1 thesis, Universitas Sultan Ageng Tirtayasa.

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Abstract

ROV (Remotely Operated Vehicle) is an underwater vehicle whichmovement is controlled directly by humans from the water surface.This studydesigned a prototype ROV which has three degrees of freedom, and is controlledusing a joystick PS (Play Station)which is connected with a UTP (UnshieldedTwisted Twister)cable.ROV speed setting is done by adjusting the PWM (PulseWidth Modulation) on each of the DC motors. Electronic components consist ofATMega32,H-bridgemosfet motor driver, joystick, and three DC motors. Thisprototype has 3 thrusterswith 3 degrees of freedom,1 rotational motion (heave)and2 translational motion (yaw and surge), which has a direction of movementup, down, forward, backward, turn right, and turn left.Speedsettingmodewhenforward movement on PWM 75% = 0,037 m/s, 90% = 0.053 m/s and 100% =0,071 m/s, while the reverse speed by 75% = 0,034 m/s, 90% = 0.045 m/s and100% = 0.059 m/s,when the ROV moves up is0,042 m/s, down 0.032 m/s, turnright 9 o /sand turn left 15 o /sset with fixed PWM value, is100%.

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Thesis (S1)

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