Pemodelan dan simulasi kinematika robot SCARA 3 derajat kebebasan menggunakan MATLAB
DOI:
https://doi.org/10.33795/eltek.v23i2.6767Keywords:
Kinematika Maju, Kinematika Terbalik, MATLAB, SCARAAbstract
Zaman yang serba canggih di semua aspek kehidupan sudah menggunakan bantuan teknologi. Seperti contoh dalam hal produksi barang di dalam industri yang hampir semua sektor sudah memakai bantuan teknologi. Untuk memperhitungkan pergerakan dari robot SCARA dibutuhkan perhitungan kinematika pada robot SCARA. Pemodelan kinematika untuk robot SCARA memberikan visualisasi fisik robot dalam model matematika. Penelitian ini bertujuan untuk menguji dan membuktikan teorema pemodelan kinematika maju (forward kinematics) dan kinematika terbalik (inverse kinematics) dalam simulasi serta pengujian lifting dan pengujian aktual langsung dengan robot SCARA. Simulasi kinematika pergerakan robot SCARA menggunakan perangkat lunak MATLAB. Penelitian terdahulu telah dirancang robot SCARA menggunakan konfigurasi revolute-translational-revolute dengan tidak menggunakan simulasi. Hasil dari pengujian kinematika maju menunjukkan bahwa rata-rata error pada nilai aktual pengukuran dan , dengan nilai paling tinggi pada selisih pada setiap pengukuran sudut. Serta hasil pengujian gerakan lifting pada SCARA memiliki error maksimal sebesar 2,72% dan error minimal sebesar 0,01%. Dengan rata-rata error yang dihasilkan adalah 0,64% dan pengujian dilakukan sebanyak 10 kali pecobaan dalam setiap parameter.
ABSTRACT
In today's advanced era, technology is integrated into all aspects of life. For instance, in the production of goods within industries, nearly all sectors have adopted technological assistance. To calculate the movements of a SCARA robot, kinematic calculations are essential. The kinematic modelling of a SCARA robot provides a physical visualization of the robot in a mathematical model. This study aims to test and validate the theorems of forward kinematics and inverse kinematics modelling through simulations and to examine the lifting mechanism as well as conduct direct practical testing with the SCARA robot. The kinematic simulations of the SCARA robot’s movements are performed using MATLAB software. In previous studies, the SCARA robot was designed using a revolute-translational-revolute configuration without simulation. The results of forward kinematics testing indicate that the average error in actual measurement values is 3.76% for and 2.98% for , with the highest deviation being 3° for each angle measurement. Additionally, the results of the lifting mechanism testing on the SCARA robot showed a maximum error of 2.72% and a minimum error of 0.01%, with an average error of 0.64% based on 10 trials for each parameter.
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