SUDIRMAN, MAMAN (2022) PENGATURAN GERAK KAKI HEXAPOD MENGGUNAKAN POLINOMIAL ORDE KE 3 DAN INVERSE KINEMATIC. Sarjana (S1) thesis, Universitas Islam "45" bekasi.
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Abstract
In the design of the hexapod robot motion method, the movement pattern must be
adjusted so that the hexapod robot can move in the desired direction. The movement pattern is
used as a reference to determine the footsteps when the robot moves. One way to adjust the
motion pattern of the hexapod robot is to use 3rd order polynomials and inverse kinematics.
The inverse kinematics method aims to calculate the angle that must be reached by each joint
of the robot's leg so that the position of the end of the robot's leg reaches the desired point and
the robot's leg can move to various positions. The 3rd order polynomial method is an equation
used to find the desired end point value in a certain iteration. The results of this study indicate
that both controls can produce smooth foot movements and the robot can walk in the desired
direction. The results of the measurement of the application of control on the robot's legs
resulted in an average error of 16.64% on the step trajectory and 9.81% on the straight
trajectory. Based on the measurement data obtained, the three joints in the legs of the hexapod
robot can be adjusted using the cubic polynomial control method and using the inverse
kinematic control method.
| Item Type: | Thesis (TA, Skripsi, Tesis, Disertasi) (Sarjana (S1)) |
|---|---|
| Contributors/Dosen Pembimbing,NIDN Dosen bisa diakses di LINK https://bit.ly/NIDNdosenunismabekasi: | Contribution Contributors / Dosen Pembimbing NIDN UNSPECIFIED AGUNG S., PUTRA WISNU UNSPECIFIED UNSPECIFIED SIKKI, M. ILYAS UNSPECIFIED |
| Subjects: | Elektronik Kendali/Kontrol Pemrograman |
| Faculty: | Fakultas Teknik > Teknik Elektro S1 |
| Depositing User: | Users 16 not found. |
| Date Deposited: | 15 Aug 2022 06:10 |
| Last Modified: | 15 Aug 2022 06:10 |
| URI: | http://repository.umindonesia.ac.id/id/eprint/619 |
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