DESAIN KONTROL ROBOT MANIPULATOR KAPASITAS 1.25 kgf
DOI:
https://doi.org/10.21776/jrm.v13i3.997Keywords:
Control System, Inverse Kinematic, Microcontroller, Robot ManipulatorAbstract
A robotic manipulator is one type of popular industrial robot which has a shape and movement that resemble a human arm. Robotic Manipulator mainly consists of a base, arm, gripper, and control system. This research focused on the control aspect of robot manipulators to handle 1.25 kgf load through experiment as a model of the robot with inverse kinematics. The design of the robot control uses 5 degrees of freedom using a servo motor as its actuator to achieve an accurate and stable movement on its x, y, and z coordinates using a microcontroller to calculate the inverse kinematic in real-time. The robot’s control involved the kinematic system, control diagram, microcontroller, and robot programming. From the experiment, it was found that the robot manipulator was able to grip and move an object from one coordinate to another position accurately and stable with a deviation in each axis were 2-3 mm on the X, 2 mm on the Y, and 1-3 mm on the Z. As for the movement timeframe deviation that was obtained between the programmed and measured was o seconds.
References
WIDODO, B., Robotika Modern, Edisi 1, Yogyakarta Andi Offset, Jakarta, 2014
ENDRA, P. dan DHEWIBERTA, H., Robotika Desain Kontrol, dan Kecedarsan Buatan, Andi, Yogyakarta, 2011
NIRANJAN, L. SUHAS, A.R., SREEKANTH, B., “Design and Implementation of Robotic Arm Using Proteus Design Tool and Arduino-UNO”, Indian J.Sci.Res., e-ISSN: 2250-0138, p-ISSN: 0976-2876, India, 2018.
ILIUKHINA, V. N., MITKOVSKII, K.B., , BIZYANOVA, D.A., & AKOPYAN, A.A., “The modeling of Inverse Kinematics for 5 DOF Manipulator”, Procedia Engineering, pp.498 – 505, 2017
ASHRAF, E., EDUARDO, Y., KAREN, B., RICARDO, S., “Design and Development of a Competitive Low-Cost Robot Arm with Four Degrees of Freedom”, Modern Mechanical Engineering, v.47, n5, 2011
SUYASH, S dan EKLAVYA, G., "Forward Kinematics of Articulated Robotic Arm”. International Journal of Research and Scientific Innovation, v.6, n.7, 2017
YAGNA, J dan BHAVESH, P., “Design And Development Of 5-DOF Robotic Arm Manipulators”, Internasional Journal Of Scientific Research, v.8, n.11, 2019.
HARISH, K., MEGHA, D., SHUKLAMBARI, M., AMIT, K., CHAITANYA, K., “Pick and Place Robotic Arm Using Arduino”, International Journal of Science, Engineering and Technology Research, v.6, n.12, 2017
EKAPUTRA, I.M.W., dan JOGA, D. S., “Pengembangan Wearable Robotic Arm Input dan Virtual Instrument Untuk Pengendalian dan Pemantauan Lengan Robot”, Jurnal Rekayasa Mesin, v.18, v.2, 2017
RAHUL, G., ANKUSH, G., ASHISH, Z., AJAY, M., “Review on Development of Industrial Robotic Arm”, International Research Journal of Engineering and Technology, v.4, n.3, 2017
Rimas, O., Rizal, M., Gembong, E.S., “Implementasi Robot Lengan Pemindah Benda 3 DOF Menggunakan Metode Inverse Kinematics”, Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer, v.2, n.8, 2018
JAMSHED, I., “Modern Control Laws for an Articulated Robotic Arm”, Engineering, Technology & Applied Science Research, v.9, n.2, 2019
RIMAS, O., RIZAL, M., GEMBONG, E. S., “Rancang Bangun Sistem Kontrol Robot Line Follower menggunakan logika fuzzy”, Jurnal Teknologi dan Sistem Komputer, v.3, n.4, 2018
HABIB, N. MAKHSUN, YAN, M, D., “Prototype Sistem Kendali Robot ARM Gripper Manipulator menggunakan Flex Sensor Dan MPU6050 Berbasis Internet of Things”,Factor Exacta, v.13, n.4, 2020
RAHUL, K. UTKAL, M. PRANEEL, C., “A Low-Cost Linear Force Feedback Control System for a Two-Fingered Parallel Configuration Gripper”, International Symposium on Robotics and Intelligent, pp.264-269, 2016
SAHA, S.K., RoboAnalyzer, http://www.roboanalyzer.com/. Diakses: Juli 2021.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2022 Sirojuddin Sirojuddin
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
