TY - GEN
T1 - A closed-form solution of inverse kinematic for 4 DOF tetrix manipulator robot
AU - Novitarini, Adi
AU - Aniroh, Yunafi'Atul
AU - Anshori, Diana Yufika
AU - Budiprayitno, Slamet
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2018/6/15
Y1 - 2018/6/15
N2 - One of the most commonly used robots in the industry is the robot manipulator. The movement of robot manipulators in the industry is a mechanical system that requires mathematical modeling methods to represent the geometric aspect, and its dynamic aspect manipulation. A kinematic analysis is needed to analyze the robot's movement regardless of the effect of inertia. The movement of robots that can rotate or translate on each joint will be complex if the calculation of each joint using kinematic analysis. To complete the kinematic analysis, a method called Denavit Hartenberg parameter (DH-Parameter) is used where the DH parameter can be performed after compiling the geometry image before forming the parameters. Furthermore, these parameters will be inputted to form homogeneous matrix so that can be analyzed kinematic forward and kinematic inverse. Because of the robot construction in this study causes some limitation in the movement of robot manipulator. Joint elbow, wrist, and end effector can only move at an angle of -90°-90°.
AB - One of the most commonly used robots in the industry is the robot manipulator. The movement of robot manipulators in the industry is a mechanical system that requires mathematical modeling methods to represent the geometric aspect, and its dynamic aspect manipulation. A kinematic analysis is needed to analyze the robot's movement regardless of the effect of inertia. The movement of robots that can rotate or translate on each joint will be complex if the calculation of each joint using kinematic analysis. To complete the kinematic analysis, a method called Denavit Hartenberg parameter (DH-Parameter) is used where the DH parameter can be performed after compiling the geometry image before forming the parameters. Furthermore, these parameters will be inputted to form homogeneous matrix so that can be analyzed kinematic forward and kinematic inverse. Because of the robot construction in this study causes some limitation in the movement of robot manipulator. Joint elbow, wrist, and end effector can only move at an angle of -90°-90°.
KW - DH-Parameter
KW - inverse kinematic
KW - robot manipulator
UR - http://www.scopus.com/inward/record.url?scp=85050026017&partnerID=8YFLogxK
U2 - 10.1109/ICAMIMIA.2017.8387551
DO - 10.1109/ICAMIMIA.2017.8387551
M3 - Conference contribution
AN - SCOPUS:85050026017
T3 - Proceeding - ICAMIMIA 2017: International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation
SP - 25
EP - 29
BT - Proceeding - ICAMIMIA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, ICAMIMIA 2017
Y2 - 12 October 2017 through 14 October 2017
ER -