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09011181520036_Vicko Bhayyu_Lengan 3 DoF
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09011181520036_Vicko Bhayyu_Lengan 3 DoF
3 DOF...
Author:
EndangDarmawan
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LAPORAN TUGAS Pengantar Robotika
Disusun Oleh :
Nama : Endang Darmawan Yudi NIM
: 09011181520116
Kelas : SK5B Dosen Pengampuh : Rendyansyah, S.Kom., MT
SISTEM KOMPUTER FAKULTAS ILMU KOMPUTER UNIVERSITAS SRIWIJAYA 2017
1. Turunkan persamaan invers kinematik dari lengan 3 DoF Manipulator ?
Penggambaran 3 DoF Manipulator saat :
Tampak samping
z
θ3
a3
a2 θ2
r
d1
x = 2 + 3 2. 2. 2. 3. 3. 3 3
+ = 2 + 3 2.2. 3. 3. 3 3 cos cos 3
=
+ 2 3 2. 2. 2. 2. 3
3 =
3 sin sin 2
=
−
+ 2 3
(
2. 2. 2. 2. 3
)
sin sin 3
sin 2 = 3 sin 3 sin sin 2 2 =
3sin3
2 = − (
3sin3 )
Tampak atas
y
a3 a2
x
θ1
= ( 2 2 + 3 ) 1 cos 1 =
2+3
1 = − (
) 2+3
×
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