PERANCANGAN PERGERAKAN ROBOT HEXAPOD 3 DoF MENGGUNAKAN METODE INVERSE KINEMATICS

TAUFIKUROHMAN, NUR AZIZ (2023) PERANCANGAN PERGERAKAN ROBOT HEXAPOD 3 DoF MENGGUNAKAN METODE INVERSE KINEMATICS. S1 thesis, Universitas Mercu Buana Jakarta.

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Abstract

Designing the motion of a hexapod robot with 3 Degrees of Freedom (DOF) using the Inverse Kinematics method allows the robot to move by adjusting the angles of its leg joints according to the desired position and direction. This research involves the geometric and structural design of the hexapod robot and the development of an Inverse Kinematics algorithm to calculate the leg joint angles based on the target pose. The study focuses on the design of a hexapod robot for movement with 3 DOF using the Inverse Kinematics method. The testing results show an average Inverse Kinematics error of 3.04 on the X-axis, 0.58 on the Y-axis for forward movement, 0.63 on the Y-axis for backward movement, -1.83 on the Z-axis for upward movement, and -2 on the Z-axis for downward movement. During the forward and backward movement tests covering a distance of 100cm, the average error was found to be 2.58 cm and 12.38 cm, respectively. For the rotation tests, the average error was 3.6° for a 90° rotation to the right, 3° for a 90° rotation to the left, 13.2° for a 180° rotation to the right, and 3.8° for a 180° rotation to the left. The results indicate that the design of the 3DOF hexapod robot using the Inverse Kinematics method provides a sufficient level of accuracy in controlling movements along the X, Y, and Z axes. Despite some errors, the robot is capable of moving fairly accurately during forward, backward, and rotational movements. Keywords: Inverse Kinematics, Robot Hexapod, 3 Degree of Freedom, Geomteri Design. Perancangan gerak robot berkaki enam dengan 3 derajat kebebasan (DOF) dengan menggunakan metode Inverse Kinematics. Metode ini memungkinkan robot berkaki enam bergerak dengan mengatur sudut sendi kaki sesuai dengan posisi dan arah yang diinginkan. Pendekatan penelitian ini melibatkan perancangan geometri dan struktur robot berkaki enam dan mengembangkan algoritma Inverse Kinematics untuk menghitung sudut sendi kaki berdasarkan pose target. Penelitian ini membahas tentang perancangan robot berkaki enam untuk pergerakan dengan 3 derajat kebebasan (DoF) dengan menggunakan metode Inverse Kinematics. Hasil pengujian menunjukkan rata-rata error Inverse Kinematics sebesar 3.04 pada sumbu X, 0.58 sumbu Y pada saat maju, 0.63 sumbu Y pada saat mundur, -1.83 pada saat naik sumbu Z, dan -2 pada saat turun sumbu Z. Pengujian pergerakan maju dan mundur menunjukkan sejauh 100cm dengan error rata-rata sebesar 2.58 cm dan 12.38 cm. Pengujian pergerakan rotasi menunjukkan error rata-rata sebesar 3.6° untuk rotasi 90° ke kanan, 3° untuk rotasi 90° ke kiri, 13.2° untuk rotasi 180° ke kanan, dan 3.8° untuk rotasi 180° ke kiri. Hasil penelitian menunjukkan bahwa perancangan pergerakan robot hexapod 3DoF menggunakan metode inverse kinematics memberikan tingkat ketelitian yang memadai dalam mengontrol pergerakan pada sumbu X, Y, dan Z. Meskipun terdapat beberapa error, robot mampu bergerak dengan cukup akurat dalam menjalankan pergerakan maju, mundur, dan rotasi. Kata Kunci: Inverse Kinematics, Robot Hexapod, 3 Degree of Freedom, Geomteri Design.

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