PENERAPAN KINEMATIKA INVERS PADA ROBOT HEXAPOD
| Main Author: | WIBOWO, ANDRI DWI SETYABUDI |
|---|---|
| Format: | Thesis NonPeerReviewed |
| Terbitan: |
, 2014
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| Subjects: | |
| Online Access: |
http://eprints.umm.ac.id/15483/ |
Daftar Isi:
- Robotics application almost includes all of fields, and certainly it provides many benefits. These benefits include the fields of industry, medical, transportation, education, etc. In the field of education, the robot is used as an object research and development to produce something better. Various forms of the robot was developed , one of which is a mobile robot. The first wheeled robot is developed, but the wheels certainly not effective for rough terrain and not necessarily ( not flat ), so as to resolve the issue, developed pallet system ( tracked ). But it is not giving the best solution because the palette even destroy the path which it passes, and inefficient because it requires a large enough power to move the pallets. Legged system was developed to address these issues as a legged robot can run well on uneven terrain though. Hexapod is a six-legged robot that resembles a spider that has a high degree of stability when 3 or more ( maximum 5 ) feet support the body while it is running. In this thesis, designed a hexapod robot with 3DOF ( Degree of Freedom ) on each leg. With the application of the inverse kinematics to move each foot and gait pattern to coordinate footsteps, making the movement of the robot becomes smooth and easy to control.