Penerapan Kinematika Balik pada Prototype Modul Praktikum Robot Manipulator 4 DOF
| Main Author: | Paulus, Timothy Immanuel |
|---|---|
| Other Authors: | Setyawan, Lukas B., Dewantoro, Gunawan |
| Format: | Thesis application/pdf |
| Bahasa: | ind |
| Terbitan: |
Program Studi Teknik Elektro FTEK-UKSW
, 2018
|
| Online Access: |
http://repository.uksw.edu/handle/123456789/16263 |
Daftar Isi:
- From lecturing in the subject of Electronic System Design at Faculty of Electronics and Computer Engineering (FTEK) of Satya Wacana Christian University (SWCU), the lecturers believe that there is no learning media that can give a simple and concise description of the application of reverse kinematics material. So in this thesis realized the application of reverse kinematics on prototype module practicum robot manipulator 4 DOF Broadly speaking, the designed tool consists of a workspace measuring 30cm for the long, 25cm for the wide, and 2cm for the high as well as a driving mechanics consisting of 4 servos. Components used are dynamixel servo AX-12A with 0-300 sudut turning angle, personal computer to program robot, LiPo battery as power supply for servo and USB2Dynamixel. For the program part used C language on Linux. From the tests performed, for servo measurements in unplugged conditions there is a correction of 0,5 on servo 0 which also functions as base-frame. The results of servo testing when in installed condition indicates a runt because the servo is loaded with another servo. In reverse kinematics testing, the end-effector can already move towards the given coordinates. But there is still a correction on the coordinates caused by the affected servo error.