PENGUJIAN PERFORMA 2 DEGREE OF FREEDOM UNDERWATER REMOTELY OPERATED VEHICLE (ROV

Abstract

Remotely Operated Vehicle (ROV) is a robot that can move on a plane controlled by humans remotely, made by humans to facilitate human work for underwater exploitation. Research on the ROV is intended to enable ROV to move in accordance with orders. The movements on the ROV include moving forward, backward, turning right and turning left. The ROV control system starts with making commands on the PC (Personal Computer) that will command from the PC that will be received by the Arduino Uno Microcontroller to be forwarded to the L293D Shield Motor and the Bluetooth HC-05 Module in order to drive the DC Motor on the ROV. Data created on a PC in the form of serial data will be called and read by the Arduino Uno Microcontroller and will be done with Bluetooth on the VT SmartPhone, the ROV can be matched with instructions from the application on the smartphone and to supply Arduino power using Power Bank. Based on the results of RPM testing, it is found that the average value of each ROV movement (forward, backward, turn right and left) is not too different. The value of forward movement is 4618 rpm, backward is 4929 rpm, right is 6125 rpm, and left is 5142 rpm. In addition, the comparison of the kinetic energy values of each ROV movement is not much different. For the forward movement has a kinetic energy of 0.0087 J and a backward movement of 0.0041 J.