3DoF Kinematik Robot Lengan
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Date
2017
Authors
Nugroho, Dionisius Adji
Journal Title
Journal ISSN
Volume Title
Publisher
Politeknik Negeri Batam
Abstract
This research contains of design in 3 Degree of Freedom (DoF) robotic arm, which
was a small prototype of robot industry. The design of this research to simulate the actual
movements of the robot industry. This robotic arm designed with kinematics using forward
kinematics and inverse kinematics by showing the movement of any DoF. This design
includes the mechanical design model and available to control with microcontroller by using
Arduino UNO. Each DoF are driven by DC motor which is controlled by using
microcontroller. This application of robot arm is connected using a Graphical User Interface
(GUI) Visual C# with calculation data covers kinematics. The result of this research obtained
the lowest error percentage at special angle movements in the process of inverse kinematics
at θ1, θ2 amounting to 0% of 0.011% and θ3 of 0.233%. While in the process forward
kinematics retrieved the value of the error in x, y of 0%, and z of 0.39%.
Description
Keywords
Teknik Elektro, Mekatronika, Teknik, Robotics, Kinematics