Pemodelan Robot Kinematik Manipulator menggunakan MATLAB

Bambang Hari Purwoto(1*)

(1) Universitas Muhammadiyah Surakarta
(*) Corresponding Author

Abstract

Manipulator robot memiliki 4 DOF (Degree of Freedom), semua sambungan bersifat revolute serta dilengkapi dengan pointer di end-effector. Proyek ini bertujuan untuk menganalisis kinematika maju dan terbalik dari robot manipulator yang didesain dengan menggunakan SolidWorks untuk mendapatkan model 3-D dan menggunakan Sismscape Multibody Link generasi pertama untuk mengekspor CAD agar mendapatkan format file XML dan STL. Kemudian memersekusi file XML dengan Jendela perintah MATLAB untuk memperoleh diagram blok robot di Simulink. Mengembangkan GUI (Graphical User Interfaces) menggunakan Matlab untuk mengendalikan lengan dan menentukan kinematika maju dan terbalik. Pertama, membuat skema robot yang akan digambar dengan semua dimensi yang berlabel. Selanjutnya, tetapkan bingkai koordinat ke diagram robot sesuai dengan algoritme DH (Denavit-Hartenberg) dan kinematika maju lengkap akan dianalisis pada robot menggunakan persamaan Homogeneous Transformation Matrix yang memerlukan notasi. Hasil akhir dari Homogeneous Transformation Matrix akan menghasilkan orientasi dan posisi dari end-effector. Selain itu, analisis kinematika terbalik juga akan dilakukan pada dua titik yang diasumsikan, misalnya, mengangkat dan menempatkan dalam ruang kerja dengan menggunakan simulasi GUI sehingga akan diperoleh nilai sudut dari setiap joint.

Keywords

Algoritme DH (Denavit-Hartenberg); ho- mogeneous transformation matrix; kinematika robot; Matlab GUI; simscape multibody link

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