Solusi atas Problem Satuan Besaran yang Berbeda dalam Perhitungan Kinematika End-Effector Robot  

Oleh:

Heliarko, Greg.

Jenis: Article from Journal - ilmiah nasional
Dalam koleksi: Media Teknika: Jurnal Teknologi vol. 6 no. 1 (Jun. 2006), page 14-22.
Topik: Non-commensurate; units; kinematics; end-effector

Ketersediaan

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

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Isi artikel

In calculating the Kinematics of End-effector, there are different units involved, such as linear position with units of unit of velocity is m/s and angular position with units of angle must be combined. These systems which contain different physical units, in either the input vector or the output vector are named non-commensurate systems. In these combined systems, the different physical quantities must be combined to achieve a given goal. Unless proper care is taken, control systems based on current optimization techniques may yield inaccurate and misleading results. This paper examines properties of non-commensurate systems and develops several algebraic properties and requirements on the physical properties involved in the control methods for such systems.

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