PROTOTYPE SISTEM KENDALI ROBOT ARM GRIPPER MANIPULATOR MENGGUNAKAN FLEX SENSOR DAN MPU6050 BERBASIS INTERNET OF THINGS

Received July 07, 2020 Revised Feb 06, 2021 Accepted Feb 08, 2021 In this sophisticated era, a lot of human work has begun to be replaced by robots. Physical limitations and human concentration in doing repetitive or dangerous work are important factors in the development of robots. One of the robots that was created to make work easier is a robot that has the ability like a human arm called the arm gripper manipulator robot. This manipulator gripper arm consists of interconnected arms, namely link, joint and endeffector. This research designed a control system of the robot arm gripper manipulator with 2 modes, gesture mode and IoT mode. The microcontroller used is Arduino Mega 2560 with flex sensor control and MPU 6050 inertia measurement unit sensor in gesture mode attached to the glove. And Iot control using a smartphone, the result of testing the error of the average travel time in 5 movements is 2.08%. The overall test results of the robot arm gripper manipulator can be controlled with gesture mode and IoT mode. The hope is that this solution will be useful for humans in reducing the risk of injury when doing heavy work.