Robot Lengan 5 DoF Dengan Invers Kinematik Berbasis Arduino

Afi, Saifuddin Iqyanul and , Ir. Pratomo Budi Santoso, M.T. (2022) Robot Lengan 5 DoF Dengan Invers Kinematik Berbasis Arduino. Skripsi thesis, Universitas Muhammadiyah Surakarta.

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Abstract

The development of technology is currently increasingly advanced and growing. The industrial revolution 4.0 is a collaboration revolution between saber technologies. The industrial revolution 4.0 model that has been widely seen is a robot. In the industrial world, the use of robots is no stranger. One type of industrial robot is an arm robot or robot that resembles a human arm in its mechanical configuration. The DoF (Degree of Freedom) robot or robotic arm consists of several joints that function as an axis, which has a high degree of flexibility. The more rotational joints a robotic arm has, the greater the maneuverability it has. Most industrial arm robots use 4 to 6 joint joints, each providing a degree of rotational axis for each movement. In addition to the rotary joint of each joint, other elements of the robot arm are software, actuators, power systems and end tools of the robot arm. As a joint drive, the actuator used is a servo motor. The servo motor is programmed by receiving a pwm signal from the Arduino Mega 2560 microcontroller which contains an inverse kinematic calculation with the input of the end effector producing the angle output of each joint of the robot arm with the aim of moving the actuator according to the coordinates of the x, y and z axes that have been determined with the final result of the L4 line. fixed in a horizontal position every time the robot arm moves. With the inverse kinematic formula, operators no longer need to think about how many degrees the robotic arm needs to reach the desired end effector.

Item Type:	Thesis (Skripsi)
Uncontrolled Keywords:	robot lengan, kinematika, arduino, aktuator
Subjects:	Q Science > QA Mathematics T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Fakultas Teknik > Teknik Elektro
Depositing User:	SAIFUDDIN 'IQYANUL 'AFI
Date Deposited:	08 Aug 2022 03:31
Last Modified:	08 Aug 2022 03:31
URI:	http://eprints.ums.ac.id/id/eprint/102864

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