Dinamika Robot Industri Mitsubishi RV - M1 dengan Menggunakan Persamaan Gerak d'Alembert  

Oleh:

Agusulistyo, Ronny Dwi

Jenis: Article from Journal - ilmiah nasional
Dalam koleksi: Media Teknika: Jurnal Teknologi vol. 5 no. 1 (2005), page 34-43.
Topik: Dynamics of Robotics; d' Alembert Equation of Motion; Euler Transformation Matric; Relative Position Vector; Coriolis and Centrifugal Force; Gravity Loading

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: MM77.1 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

This report is going to be learn about dynamics of robotics, especially the usage with the d'Alembert equation of motion to RV-MJ robot of Mitsubishi industry. In the d'Alembert equation of motion, Euler transformation matrices and relative position vectors between joints of links manipulator are using to describe the contributions of the translation and rotational effects of the links that will be shown the dynamic behavior the manipulator. To analyze the d'Alembert equation of motion is completed with computational program by programming of MATLAR version 5.3. Many configurations the motion of RV-M1 robot arm has make experiment for validation of the program. The result of the programming have shown that the torques in the joint of robot arm has too much influenced by coriolis and centrifugal force also gravity loading. From that formulation, the d 'Alembert equation of motion has suitable for analyze the equation of control robot arm.

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