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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    DESAIN KONTROL ROBOT MANIPULATOR KAPASITAS 1.25 kgf



    Erscheinungsdatum :

    2022-12-31


    Anmerkungen:

    doi:10.21776/jrm.v13i3.997
    Jurnal Rekayasa Mesin; Vol. 13 No. 3 (2022); 675-688 ; 2477-6041 ; 2338-1663 ; 10.21776/jrm.v13i3



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Sistem kontrol gerak kinematika robot gripper manipulator

    Wayan Widhiada / Putu Agus Suryawan / Beny Maximin Messakh | DOAJ | 2018

    Freier Zugriff

    Sistem kontrol gerak kinematika robot gripper manipulator

    Widhiada, Wayan / Agus Suryawan, Putu / Maximin Messakh, Beny | BASE | 2018

    Freier Zugriff

    RANCANG BANGUN GRIPPER ROBOT MANIPULATOR 2 DOF KAPASITAS 1,25 KGF

    Sirojuddin, Sirojuddin / Solikhah, Siti / Sukarno, Ragil et al. | BASE | 2023

    Freier Zugriff

    Desain Sistem Kontrol Umpan Balik pada Lintasan Traktor Tanpa Operator

    Sutiarso, Lilik / Takigawa, T. | BASE | 2016

    Freier Zugriff

    Desain Robot Holonomic berbasis Roda Mecanum dengan Arm Manipulator

    Murti, Budi Bayu / Sarwono, Tirza / Apriaskar, Esa et al. | BASE | 2020

    Freier Zugriff