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Limanuel, Fransisko
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Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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Design and Implementation of 6 DOF ROTARIC Robot Using Inverse Kinematics Method Limanuel, Fransisko; Susanto, Calvin; Manalu, Ferry Rippun Gideon
Jurnal Elektro Vol 13 No 2 (2020): Jurnal Elektro: Oktober 2020
Publisher : Prodi Teknik Elektro, Fakultas Teknik Unika Atma Jaya Jakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/jurnalelektro.v13i2.1930

Abstract

This paper will discuss the calculation of inverse kinematic which will be used to control the 6-DOF articulated robot. This robot consists of 6 Dynamixel MX-28 smart servo with OpenCM 9.04 microcontroller. The articulated robot has been simplified to 4-DOF because there are no obstacles in the work area and no special movements are required. The calculation method uses the intersection point equation between the ball and the line, so that it can make it easier to determine the point in calculating the kinematic inverse. The experiment is carried out using the desired position as input for the kinematic inverse to produce the angle of each joint. From the angle of each joint obtained, it will be entered into forward kinematic so that the end-effector position will be obtained. The desired position will be compared with the end-effector position, and then how much difference will be calculated. From the experimental results, it was found that the inverse kinematic method which has been inverted by the forward kinematic produces the same final position. Keywords: 6-DOF manipulator, Articulated robot, inverse kinematics and forward kinematics, Dynamixel MX-28, OpenCM 9
Design And Implementation Of Pose Recording System With Denavit Hartenberg Method In A 6-Dof Robot Rotaric Susanto, Calvin; Limanuel, Fransisko; Rippun, Ferry
Widya Teknik Vol. 22 No. 1 (2023): May
Publisher : Fakultas Teknik, Universitas Katolik Widya Mandala Surabaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33508/wt.v22i1.4708

Abstract

Robot developments have been integrated into several industrial and home appliances. To keep up with the development, UNIKA Atma Jaya created a group called PATRIOT as a head start, and started the development on ROTARIC robot. One of the early robot research discussed in this paper is to design and implement ROTARIC 6-DOF robot pose recording system which is drawn using forward kinematics with Denavit Hartenberg method. The system has a GUI with several function inside such as robot pose recording, 2-D display of the robot recorded pose using Forward Kinematics analysis, and playback recorded pose. The system uses several hardware that have been connected serially such as 6 Dynamixel MX-28 servo, OpenCM 9.04 +485 EXP microcontroller, and a Computer. The Software used in the system is C# .NET with WinForms App as the GUI and Arduino IDE. From the test done in this research, the recording and 2-D drawing system achieved error <±1cm or 6.67% relative error caused by the resolution value while reading the servo position sensor and the value rounding inside the program. Meanwhile, the playback recording function that uses queue system achieved error of <±1cm and error of ±5cm or 33.3% relative error when the recorded pose is played using real time delay used in recording. The error is caused by the robot failure to keep up with the speed of the recorded pose and the limited torque in servo number 2 in the robot. 
Co-Authors Ferry Rippun Gideon Manalu, Ferry Rippun Gideon Rippun, Ferry Susanto, Calvin