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.
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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 > 20201-(S1) Undergraduate Thesis |
| Depositing User: | 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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