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All Journal Sinergi Scientific Journal of Mechanical Engineering Kinematika
Burhanudin, Achmad
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Automotive Engineering Civil Engineering, Building, Construction & Architecture Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Journal : Sinergi

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Problem solving path planning and path tracking in a 3 DOF hexapod robot using the RRT* algorithm with path optimization and Pose-to-Pose Suwoyo, Heru; Burhanudin, Achmad; Tian, Yingzhong; Andika, Julpri
SINERGI Vol 28, No 2 (2024)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2024.2.007

Abstract

Path planning is one of the most fundamental problems that must be solved before a robot can navigate and explore autonomously. Path planning needs to be integrated with path tracking to be applied to autonomous robots. This makes path tracking also important for autonomous robot navigation which cannot be separated from path planning. There are two path planning methods, the first is search-based method, the second is sampling-based method. Both have their own advantages, but the popular and commonly used sampling-based algorithm due to its fast convergence is preferred in path planning.  The RRT* algorithm was developed. This improvement initiated a major civilization in sampling-based algorithms, namely parent node selection and rewiring in RRT. Although there has been an improvement in optimality, RRT* still doesn't provide the distance optimality value as expected, due to its character that is still adopted from RRT.  The resulting path is still suboptimal and not smooth (jagged). On the other side, Path tracking has several methods, however, these path tracking methods are difficult to apply to autonomous robots and need to be adapted to the robot used. Based on the description above, there are still problems with path planning, namely paths that are still less than optimal and convergence that is still slow.  This research will add a way to shorten the distance in the RRT* algorithm with the triangular inequality method.  Meanwhile, for path tracking, we will apply the pose-to-pose method, which follows the waypoint that has been made by path planning.
Design of 3 DOF hexapod leg movement using inverse kinematics: bridging gaps in multilegged robot kinematics literature Suwoyo, Heru; Taufikurohman, Nur Aziz; Tian, Yingzhong; Burhanudin, Achmad
SINERGI Vol 29, No 1 (2025)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2025.1.001

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 uses the Inverse Kinematics method to design a hexapod robot for movement with 3 DOF. The testing results show an average Inverse Kinematics error of 1.56 mm on the X-axis, 0.88 mm on the Y-axis, and 0.78 mm on the Z-axis. During the forward and backward movement tests covering a distance of 100 cm, the average error was 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.
Co-Authors Dadang Hermawan Julpri Andika Nova Risdiyanto Ismail Suwoyo, Heru Syamsiar, Syamsiar Taufikurohman, Nur Aziz Tian, Yingzhong