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All Journal Rekayasa Mesin Jurnal Konversi Energi dan Manufaktur Prosiding Seminar Nasional Pengabdian Kepada Masyarakat
Eko Arif Syaefudin
Universitas Negeri Jakarta
Aerospace Engineering Humanities Automotive Engineering Economics, Econometrics & Finance Education Energy Environmental Science Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Public Health Other

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Journal : Rekayasa Mesin

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DESAIN KONTROL ROBOT MANIPULATOR KAPASITAS 1.25 kgf Sirojuddin Sirojuddin; Yudha Adigutama; Eko Arif Syaefudin; Mohamad Ilham Al Fatah
Jurnal Rekayasa Mesin Vol. 13 No. 3 (2022)
Publisher : Jurusan Teknik Mesin, Fakultas Teknik, Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21776/jrm.v13i3.997

Abstract

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.
Co-Authors Aam Amaningsih Jumhur Ahmad Kholil Djoko Walujo Dyah Arum Wulandari Imam Basori Mohamad Ilham Al Fatah Muhammad Alfian Dwi Putra Putra Ratu Amilia Avianti Sirojuddin Wardoyo Yudha Adigutama