ANALISA FORWARD KINEMATIC PADA SIMULATOR ARM ROBOT 5 DOF YANG MENGINTEGRASIKAN MIKROKONTROLER ARDUINO-UNO DAN LABVIEW
ABSTRACT: An arm robot
simulator has been developed, that capable in simulating a 5 degree of freedom
robot manipulator, in which it was equipped with two-finger gripper mechanism
at end-effector. This simulator is designed for educational purposes so that
many students can easily understand when learning about robot manipulator. The
simulator was developed using Ardiuno Uno with LabVIEW through the Firmata
interface for controlling the actuators (servo motors). Ardiuno Uno was chosen
because it can interact with LabVIEW that will be able to control the angular
position of servo motor easily. Angular position errors that occur on the servo
motor can be solved by using a numerical program functions and numerical
multiply divided on LabVIEW. For analysis, this paper presents the forward
kinematics problem which is concerned with the relationship between the
individual joints of the arm robot simulator and the position and orientation
of the tool or end-effector. The analysis result is carried out in MATLAB.
Penulis: MUNADI
Kode Jurnal: jptmesindd130159
