SISTEM KENDALI GERAK LENGAN ROBOT UARM DENGAN GRIPPER LINEAR BERBASIS METODE INVERS KINEMATIC

RAHMATULLAH, IKANG and Prasetyo, Aditya Putra Perdana and Exaudi, Kemahyanto (2022) SISTEM KENDALI GERAK LENGAN ROBOT UARM DENGAN GRIPPER LINEAR BERBASIS METODE INVERS KINEMATIC. Undergraduate thesis, Sriwijaya University.

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Abstract

Pada penelitian pada projek ini mengembangkan sebuah robot model U-Arm dengan tiga derajat kebebasan dengan menggunakan perhitungan Invers Kinematic. Invers Kinematic merupakan proses perhitungan matematis untuk mendapatkan besarnya sudut dari ketiga sendi pada lengan robot dari titik koordinat (x,y,z) end-effector yang telah diketahui dan panjang setiap Link. Pada lengan robot ini terdapat 4 Link, dengan panjang Link1 = 8.2 cm, panjang Link2 = 15 cm, panjang Link3 = 16 cm dan panjang Link4 = 18.4 cm. Pada ujung lengan robot terdapat modul pencengram untuk mencengram objek. Hasil pengujian gerak pada lengan robot yang menggunakan perhitungan Invers Kinematic ini menunjukkan rata-rata kesalahan koordinatnya sebesar 7.13%. Pada penelitian ini juga mengembangkan program untuk mengatur kecepatan dari motor servo menggunakan fungsi For dan delay.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	GERAK, LENGAN ROBOT UARM
Subjects:	Q Science > Q Science (General) > Q334-342 Computer science. Artificial intelligence. Algorithms. Robotics. Automation.
Divisions:	09-Faculty of Computer Science > 56401-Computer Engineering (D3)
Depositing User:	Ikang Rahma Tullah
Date Deposited:	13 Jan 2023 02:43
Last Modified:	13 Jan 2023 06:29
URI:	http://repository.unsri.ac.id/id/eprint/85021

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