Kajian Awal  Penerapan Konsep Mekanika Pada Gerak Robot  Dengan Analisis Aljabar

Yasmini, Luh Putu Budi

doi:10.23887/jst-undiksha.v1i1.6019

Cited by 1 publication

(1 citation statement)

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“…The motion of the system is said to be rigid body motion if the distance between points on each body does not change during the motion. This concept is becoming the basic concept for analyzing the motion of robot manipulators [5], [12]. This research is a theoretical study conducted through a review of related literature.…”

Section: Introductionmentioning

confidence: 99%

Rotation Component of Robotic Manipulator Motion in 4-Dof by the Quaternion Method

Yasmini,

Isna,

Risha

2024

IPR

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Most of the study of robots is about the system. Because of that, we analyze the motion of the robot by using rigid body motion concepts. This study aims to analyze the rotation components of a robotic manipulator with four degrees of freedom (4-DoF) by using the quaternion method of manual analysis so that the end effector of the robotic manipulator under study is obtained. The research is theoretical and was conducted through a review and analysis of related literature. Based on the literature review, the robotic manipulator is a robot with a shape resembling an arm. The robotic manipulator consists of bases, links, joins, and an end effector. In terms of physics, the kinematics of robot motion can be studied based on the concept of rigid body motion. The research shows that the quaternion method can be used to determine the end effector of the rotation component of the robotic manipulator, and the steps are shorter than analyses by using screw and twist theory. Based on this case, the end effector of the rotation component depends on the initial state and the total rotation angle of each join.

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Section: Introductionmentioning

confidence: 99%