Pemodelan Forward Kinematic dan Inverse Kinematic Robot Berlengan PUMA 560

Atikah Surriani, Muhammad Arrofiq, Fahmizal Fahmizal

Abstract


Robot berlengan memerlukan derajat pergerakan yang tepat untuk mendapatkan posisi yang tepat. Pada penelitian ini fokus pada permasalah kinematika robot berlengan yang memiliki 6 joint. Penelitian ini akan menunjukkan hubungan dari sudut setiap joint dan posisi dari end- effector. Robot berlengan dimodelkan sebagai robot PUMA 560 yang memiliki 6 joint. Representasi matematis dari robot PUMA 560 menggunakan parameter pada metode DH (Denavit-Hartenberg), dan forward kinematic sehingga inverse kinematic dari robot PUMA 560 dapat dianalisis dalam model matematis. Sebagai legitimasi dari model matematis tersebut akan dilakukan simulasi dengan menggunakan Robotic, Vision and Control (RVC) tools berdasarkan model Peter.I.Corke. Forward kinematic dari robot PUMA 560 model akan ditampilkan dalam 4 mode yang memiliki sudut yang berbeda pada masing-masing joint. Simulasi forward kinematic direpresentasikan dalam 3D untuk memperlihatkan perubahan pergerakan dan posisi dari robot berlengan dengan 6 joint. Hasil dari inverse kinematic robot PUMA 560 berdasarkan posisi dan koordinat robot memiliki nilai sudut yang berbeda dari nilai sudut saat forward kinematic di setiap mode. Perbedaan tersebut terjadi karena perbedaan konfigurasi dari robot PUMA 560, sehingga nilai inverse kinematic robot PUMA 560 adalah tidak unik.

Keywords


PUMA560; forward kinematic; inverse kinematics

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References


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DOI: http://dx.doi.org/10.26555/jiteki.v4i2.11795

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Jurnal Ilmiah Teknik Elektro Komputer dan Informatika
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