ANALISIS DAN VISUALISASI FORWARD KINEMATICS PADA ROBOT ARM 6 DOF

YUSUF, MUHAMMAD (2023) ANALISIS DAN VISUALISASI FORWARD KINEMATICS PADA ROBOT ARM 6 DOF. S1 thesis, Universitas Mercu Buana Jakarta.

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Abstract

The industrial world is currently developing technology very rapidly and covers all fields. Sophisticated robots have replaced manual equipment that requires a lot of human effort. Robots are one of the tools that under certain conditions are needed in the industry. Among the robots that are often used in the industrial world is the robot arm or the Thor-robot arm. The robotic arm simulator uses 6 DOF. DOF (Degree Of Freedom) is the degree of freedom in the robot for any linear or rotational movement along or around an axis (axis). The robotic arm is equipped with a two-finger gripper designed to determine the movement of the manipulator robot. The aim of this final project is to make a 6 dof arm robot simulator equipped with a gripper and continue with forward kinematics analysis. In this study, the authors studied the design and simulation of a 6 dof Thor-robot arm using a spindle technomotor. The Thor-robot arm is expected to be reprogrammed flexibly by the user, so we need an interface between the Thor-robot arm and the user via a computer. Using the Forward method on the thor-robot arm will make it easier to calculate the position of the end-effector. In calculating Forward Kinematics Analysis and Graphical User Interface (GUI) visualization the author uses a programming language, namely: Python. Python is used to calculate Forward Kinematics Analysis into the program in order to get calculations and definite results and visualization of the Graphical User Interface (GUI). When you have used the forward kinematics method which is the basis for making the thor-robot arm, after that the robot will be simulated through the RoboDK simulator. RoboDK for simulating and programming robots. KeyWords : Thor-robot arm 6 dof, Python, RoboDK, forward kinematics. Dunia industri saat ini perkembangan teknologi sudah sangat pesat dan mencakup di segala bidang. Robot yang canggih telah menggantikan peralatanperalatan manual yang membutuhkan banyak tenaga manusia. Robot merupakan salah satu alat bantu yang dalam kondisi tertentu sangat diperlukan dalam industri. Diantara robot yang sering digunakan dalam dunia industri adalah robot arm atau thor-robot arm. Simulator robot arm menggunakan 6 DOF. DOF (Degree Of Freedom) adalah derajat kebebasan pada robot setiap gerakan linier atau putaran sepanjang atau sekitar pada sebuah sumbu (axis). Robot arm dilengkapi dengan gripper dua jari ini dirancang untuk menentukan pergerakan robot manipulator. Tujuan dari tugas akhir ini adalah membuat simulator robot lengan 6 dof yang dilengkapi dengan gripper dan dilanjutkan dengan analisis forward kinematics. Di dalam penelitian ini, penulis mempelajari perancangan serta simulasi thor-robot arm 6 dof dengan menggunakan teknomotor spindle. Thor-robot arm diharapkan dapat diprogram ulang secara fleksibel oleh pengguna, maka kita membutuhkan antarmuka antara thor-robot arm dengan pengguna melalui komputer. Penggunaan metode Forward pada thor-robot arm akan memudahkan perhitungan posisi pada end-effector. Dalam perhitungan Analisis Forward Kinematics dan visualisasi Graphical User Interface (GUI) penulis menggunakan Bahasa Pemograman, Yaitu : Python. Python digunakan untuk mengitung Analisis Forward Kinematics ke dalam program agar mendapat hitungan dan hasil yang pasti dan visualisasi dari Graphical User Interface (GUI). Ketika sudah menggunakan metode forward kinematics yang menjadi landasan dalam pembuatan thor-robot arm setelah itu robot akan dismulasikan melalui simulator RoboDK. RoboDK untuk mensimulasikan serta memprogram robot. Kata Kunci : Thor-robot arm 6 dof, Python, RoboDK, forward kinematics

Item Type: Thesis (S1)
Call Number CD: FT/ELK. 23 070
Call Number: ST/14/23/074
NIM/NIDN Creators: 41419010022
Uncontrolled Keywords: Thor-robot arm 6 dof, Python, RoboDK, forward kinematics
Subjects: 600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan
600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan > 621 Applied Physics/Fisika terapan
600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan > 621 Applied Physics/Fisika terapan > 621.3 Electrical Engineering, Lighting, Superconductivity, Magnetic Engineering, Applied Optics, Paraphotic Technology, Electronics Communications Engineering, Computers/Teknik Elektro, Pencahayaan, Superkonduktivitas, Teknik Magnetik, Optik Terapan, Tekn
Divisions: Fakultas Teknik > Teknik Elektro
Depositing User: ADELINA HASNA SETIAWATI
Date Deposited: 14 Apr 2023 08:08
Last Modified: 14 Apr 2023 08:08
URI: http://repository.mercubuana.ac.id/id/eprint/76551

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