Abstract
Robots are an option to help human jobs address issues of precision, security and flexibility. The robot<br />arm becomes one of the robot types that can help human work. The robot arm controller research is<br />to control the stepper motor's motion according to the command. Desai this cartesian coordinate<br />robot is 2 axis that is X and Y axis. Control of this robot arm using Visual Basic 6.0 programming for<br />controlled robot from PC to arduino Uno R3. Motor driver used is IC A4988, stepper motor movement<br />got input from PC with software visual basic 6.0. to move the stepper motor. Data sent from PC to<br />Arduino Uno R3 is a command from Visial Basic 6.0 with serial communication. The microcomputer<br />reads the serial data input and sends a step value data to the stepper motor driver to move the robot<br />arm. The end result of the robot arm controller research that has been achieved is the robot arm can<br />be controlled with the command to enter the distance that will be run by stepper motor as the<br />method of pemograman which is controlled through serial communication with Visual Basic 6.0. The<br />test results show an average error 22.26531 for the left and 52.61111 for the right direction on X axis<br />while for Y axis -5,36957 for the downward direction and 0.117647 for the upper direction
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