IMPLEMENTASI METODE FORWARD KINEMATIK SEBAGAI SISTEM KENDALI PERGERAKAN LENGAN ROBOT uARM DENGAN GRIPPER LINEAR

ALPARISI, ACHMAD BAIDAWI and Prasetyo, Aditya Putra Perdana and Exaudi, Kemahyanto (2023) IMPLEMENTASI METODE FORWARD KINEMATIK SEBAGAI SISTEM KENDALI PERGERAKAN LENGAN ROBOT uARM DENGAN GRIPPER LINEAR. Diploma thesis, Sriwijaya University.

	Text RAMA_56401_09030581923029.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (4MB) | Request a copy
	Text RAMA_56401_09030581923029_TURNITIN.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (8MB) | Request a copy
	Text RAMA_56401_09030581923029_0020108805_0025058403_01_front_ref.pdf - Accepted Version Available under License Creative Commons Public Domain Dedication. Download (2MB)
	Text RAMA_56401_09030581923029_0020108805_0025058403_02.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (413kB) | Request a copy
	Text RAMA_56401_09030581923029_0020108805_0025058403_03.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (601kB) | Request a copy
	Text RAMA_56401_09030581923029_0020108805_0025058403_04.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (1MB) | Request a copy
	Text RAMA_56401_09030581923029_0020108805_0025058403_05.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (38kB) | Request a copy
	Text RAMA_56401_09030581923029_0020108805_0025058403_06_ref.pdf - Bibliography Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (90kB) | Request a copy
	Text RAMA_56401_09030581923029_0020108805_0025058403_07_lamp.pdf - Accepted Version Restricted to Repository staff only Available under License Creative Commons Public Domain Dedication. Download (1MB) | Request a copy

Abstract

In research on this project developed a U-Arm model robot with three degrees of freedom using Forward Kinematic calculations. Kinematic Forward is a mathematical calculation process to obtain the angles of the three joints on the robot arm from known (x,y,z) end-effector coordinates and the length of each link. In this robotic arm there are 4 links, with a length of Link1 = 8.2 cm, a length of Link2 = 15 cm, a length of Link3 = 16 cm and a length of Link4 = 18.4 cm. At the end of the robotic arm there is a gripping module for gripping objects. The results of testing the motion of the robot arm using the Forward Kinematic calculation show that the average coordinate error is 7.13%. This research also develops a program to adjust the speed of the servo motor using the For and delay functions.

Item Type:	Thesis (Diploma)
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) > TA165 Engineering instruments, meters, etc. Industrial instrumentation
Divisions:	09-Faculty of Computer Science > 56401-Computer Engineering (D3)
Depositing User:	Achmad Baidawi Alparisi
Date Deposited:	22 Jan 2024 07:08
Last Modified:	22 Jan 2024 07:08
URI:	http://repository.unsri.ac.id/id/eprint/139262

Actions (login required)

View Item