PENERAPAN INVERSE KINEMATICS UNTUK PERGERAKAN ROBOT LENGAN 4-DOF

HAZDIQQI, RIZZAN (2020) PENERAPAN INVERSE KINEMATICS UNTUK PERGERAKAN ROBOT LENGAN 4-DOF. Skripsi thesis, Institut Teknologi Dirgantara Adisutjipto.

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Abstract

The development of the robotics world is based on elements of a practical approach as a form of problem solving, in contrast to theoretical science which emphasizes hypotheses or princples through method. arm Robot technology is part of the development of robotics needed by humans in the industry to move objects or reach dangerous/difficult places. So that human work is helped by the existence of these arm robot. The purpose of this research is to implement the inverse kinematics robotics method on the arm robot. In implememnting the method applied to the arm robot, it is known as the degree of freedom or Degree of Freedom (DOF), which shows the number of joints that connect between links. The inverse kinematics method combines large joint angles that produce a certain final position from the end of the robot arm in order to get to the desired coordinates. The robotic arm main control system uses an Atmega-328 microcontroller equipped with sensors for to detect the presence of objects. The result of the research have shown that the 4-DOF arm robot by applying the inverse kinematics method can be applied to the Atmega-328 microcontroller. Robot arm can move objects from one coordinate to another with an average level of repeatbility of 0.0216 at position x, 0.0494 at position y and 0.0176 at position z.

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