Analisis Inverse Kinematics Tersegmentasi Berbasis Geometris Pada Robot Humanoid Saat Berjalan

Setiawan, Praditya Handi (2016) Analisis Inverse Kinematics Tersegmentasi Berbasis Geometris Pada Robot Humanoid Saat Berjalan. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot humanoid merupakan robot yang memiliki konstruksi tubuh seperti manusia. Robot humanoid jenis Bioloid ini memiliki 18 DoF ( derajat kebebasan). Untuk merancang pola berjalan(walking gait) dari robot diperlukan analisis inverse kinematics berfungsi untuk mendapatkan sudut joint dari posisi sesuai dengan perancangan. Analisis inverse kinematics dilakukan secara tersegmentasi dengan melakukan pembagian anggota tubuh robot menjadi 4 bagian yaitu : tangan kanan, tangan kiri, kaki kanan, kaki kiri dan menggunakan pendekatan geometris. Pada tangan robot Bioloid, analisis inverse kinematics fokus pada joint 1 dan 2. Pada kaki, analisis inverse kinematics fokus pada joint 9, 10, 11, 12, 13, 14, 15, 16, 17 dan 18. Analisis inverse kinematics pada kaki ditinjau dari sumbu x, z dan sumbu y, z. Hasil pengujian posisi pada tangan kanan terhadap sumbu x, z memiliki rata-rata error pada Px sebesar 0,12 mm dan Pz 0,02 mm. Rata-rata error posisi tangan kiri pada Px 0,06 mm dan Pz 0,06 mm. Pada pengujian kaki, rata-rata error posisi kaki kanan saat ditinjau dari sumbu x, z untuk Px 3,1 mm dan Pz 0,22 mm. Pada kaki kiri, rata-rata error posisi pada Px 3,60 mm dan Pz 0,27 mm. Saat ditinjau dari sumbu y, z rata-rata error posisi kaki kanan pada Py 0,12 mm dan Pz 0,25 mm. Sedangkan pada kaki kiri, nilai rata-rata error posisi pada Py 1,43 mm dan Pz 0,61 mm. Pada implementasi walking gait robot Bioloid, terdapat rata-rata sudut kemiringan 22,25º. ===================================================================================== Humanoid robot is a robot that has a body like a human construction. Bioloid humanoid robot types have 18 DoF (degrees of freedom). To developed walking gait of the robot it would did inverse kinematics analysis first. Inverse kinematics analysis get the value of the angle of the position that has been planned. Inverse kinematics analysis will divided by the segmented robotic into 4 parts: right hand, left hand, right foot, left foot with geometrical approach. On the hand, inverse kinematics analysis will focus on joint kinematics 1 and 2. At the foot will focus on joint 9, 10, 11, 12, 13, 14, 15, 16, 17 and 18. For inverse kinematics at the leg will be reviewed from two sides of the terms of the x,z axis and y, z axis. Results from the planning kinematics at x, z axis has an average error in right hand 0,12 mm at Px and 0,02 mm at Pz. Average error of position on the left hand obtained by Px and Pz 0,06 mm. For the right leg the average error in the x, z axis is 3,1 mm at Px, and 0,22 mm at Pz. While on the left leg, the average the error position viewed from the x, z axis is 3,60 mm Px and Pz is 0,27 mm. When viewed from the y,z-axis, average error position Py for the right leg is 0,12mm and Pz 0,25mm. Average error value of position left leg is 1,43 mm at Py and 0,61mm at Pz. Then, average value on walking gait implementation for the slope is 22,25º.

Item Type: Thesis (Undergraduate)
Additional Information: RSE 629.892 Set a
Uncontrolled Keywords: Robot Bioloid; walking gait; inverse kinematics; geometris; Bioloid robot; geometry
Subjects: T Technology > T Technology (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Industrial Technology > Electrical Engineering > (S1) Undergraduate Theses
Depositing User: Mrs Anis Wulandari
Date Deposited: 06 Jun 2017 02:55
Last Modified: 27 Dec 2018 07:42
URI: http://repository.its.ac.id/id/eprint/41501

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