Forward Kinematics of 3 Degree of Freedom Delta Robot

Mustafa, Mohd. Marzuki; Misuari, R.; Daniyal, Hamdan

doi:10.1109/scored.2007.4451401

Cited by 14 publications

(7 citation statements)

References 6 publications

(3 reference statements)

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“…Forward Kinematics merupakan sebuah metode untuk mengubah besaran sudut tiap joint menjadi besaran kartesian pada ujung end-effector [5] . Pada metode forward kinematics, posisi dan orientasi ujung lengan (end-effector) robot dapat ditentukan berdasarkan posisi sudut-sudut joint dan struktur mekanik robot.…”

Section: Forward Kinematicsunclassified

Lengan Robot Pemindah Barang Berdasarkan Ukuran Tinggi

Maftuh¹

2020

E-JOINT

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Abstrak- Penelitian dilakukan dengan tujuan untuk merancang dan membuat lengan robot pemindah barang berdasarkan ukuran tinggi. Dengan adanya lengan robot pemindah barang ini, maka ketika memindahkan benda dengan massa yang berat dan jarak yang jauh tidak perlu membutuhkan tenaga manusia. Karena hal ini dinilai kurang efektif mengingat keterbatasan kemampuan manusia dalam memindahkan barang berat dan keterbatasan waktu manusia dalam bekerja. Lengan robot ini didesain untuk mengambil dan memindahkan barang dari konveyor ke tempat penempatan barang. Lengan robot menggunakan sensor ultrasonik untuk mengidentifikasi barang. Input dari sensor tersebut akan diproses oleh mikrokontroler dan memberikan instruksi untuk pergerakan lengan robot tersebut. Input dari robot ini berupa koordinat awal dan koordinat akhir yang kemudian dikomputasikan dengan metode inverse kinematics dengan output berupa besar sudut yang dibutuhkan masing masing joint agar lengan robot mencapai titik koordinat tersebut. Hasil dari penelitian yang telah dilakukan, sensor ultrasonik dapat membedakan tipe barang yang ada dengan error terkecil sebesar 0,01% dan error terbesar 4,68%, serta sensor proximity dapat mendeteksi barang pada jarak ≤ 10 cm. Rata-rata error yang terjadi antara koordinat yang diinginkan dengan koordinat yang dihasilkan berdasarkan perhitungan invers kinematics adalah 0-2 cm. Pada pengujian pemindahan barang lengan robot dapat memindahkan sesuai dengan ukuran tinggi dengan tingkat keberhasilan 100 %. Berdasarkan hasil tersebut lengan robot pemindah barang dengan menggunakan metode inverse kinematics ini efektif dalam menjalankan fungsinya memindahkan barang.Kata kunci: Lengan robot, Inverse kinematics.

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Section: Forward Kinematicsunclassified

Lengan Robot Pemindah Barang Berdasarkan Ukuran Tinggi

Maftuh¹

2020

E-JOINT

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“…The singular positions in serial robots require a very high value of joint speeds. This situation reveals a danger for working conditions (Merlet, 1992(Merlet, , 1995Bi and Lang, 2009;Mustafa et al, 2007).…”

Section: Introductionmentioning

confidence: 99%

“…The main feature of this robot is a homogenous kinematic performance exhibition in the useful study area. Another three degrees of freedom robot is tricept, developed by Neumann (Mustafa et al, 2007).…”

Section: Introductionmentioning

confidence: 99%

“…The biggest advantage of the triglide robot is to allow an infinite range of motion in the z-direction, according to design parameters. Although it can be moved in a limited area in x and y directions, the triglide robot may be preferred as a suitable robot according to the purpose its of use (Mustafa et al, 2007;Merlet, 2006, pp. 31-34;Stan et al, 2008).…”

Section: Introductionmentioning

confidence: 99%

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Real-time control of triglide robot using sliding mode control method

Aydın

Yakut

2018

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Purpose The purpose of the study is to design a three-dimensional (3D) triglide parallel robot with a different approach and to control the manufactured robot via sliding mode control method that has not been applied to the robot before. Design/methodology/approach The x, y and z coordinates of the end effector of the robot have been given as a reference. The x, y and z reference values are transformed as new reference values of the vertical movement of the robot on the endless screw by using the inverse kinematic equations of the robot. The control of the robot over these reference values is provided by a sliding mode control. The MATLAB/real-time toolbox has been used for creating the interface. The real-time control of the triglide robot has been carried out with a sliding mode controller in the Simulink environment. Findings When the results of the sliding mode control are examined, it is seen that the desired reference values are provided in about 0.6 s. The velocity of the sliding limbs in each arm of the robot is approximately 50 mm/s. The reference values have been reached using the sliding mode control method, with an average error of 0.01 mm. In addition, the problem of chattering in the system caused by using the sign function has been relatively eliminated by using the saturation function instead of the sign function. Thus, the sliding mode control method with saturation function is more feasible. Originality/value In this study, the triglide parallel robot was manufactured using a 3D model after taking into consideration the dimensions of the 3D model. After production, the necessary hardware connections were provided, and a real-time sliding mode control method was implemented to the robot by using the interface program in MATLAB/Simulink environment. The literature contribution of the paper is the real-time control of the triglide robot with the sliding mode control method.

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“…The travelling plate is operate as actuator of the robot and assume that all the external disturbance force is applied only on travelling plate, the interference between three legs of delta robot is result in relatively small workspace [1]. However, parallel robot show better stiffness with resonance resistance and load carrying capacity that distribute into three motors when compare to counterpart serial robot and Many research is conduct to use the properties of delta robot such as the parallel kinematic machine is used to increase accuracy and dexterity of the surgeon while reduce the noise from shanking to perform high biopsy of brain tissue or placed electrodes for Parkinson's disease treatments [2] [3] [4].…”

Section: Introductionmentioning

confidence: 99%

Bilateral control in delta robot by using Jacobian matrix

Stapornchaisit

Mitsantisuk

Chayopitak

et al. 2015

2015 6th International Conference of Information and Communication Technology for Embedded Systems (IC-ICTES)

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Delta robot is a parallel robot with rigid body and fast movement potential that suitable for human interface device via bilateral control. The workspace is relatively small due to the complex interference between three legs and lead to various size of delta robot to compatible with the preference work. As the size is vary, the kinematic and dynamic of delta robot is also difference and required new control method to compensate the changing kinematic such as micro/macro bilateral control in task space. However, those method required high calculation power to calculate the position and force feedback by using angular motor position and torque from disturbance observer. New approach of speed and force bilateral control to reduce the complexity and computational time by using Jacobian matrix (J) is proposed. The angular velocity of motor is calculated within disturbance observer. The simulation is carry out to verify the proposed method. Keywords-Bilateral control, disturbance observer, delta robot. 2015 6th International Conference of Information and Communication Technology for Embedded Systems (IC-ICTES) 978-1-4799-8565-4/15/$31.00 ©2015 IEEE J J J J J J J J

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Forward Kinematics of 3 Degree of Freedom Delta Robot

Cited by 14 publications

References 6 publications

Lengan Robot Pemindah Barang Berdasarkan Ukuran Tinggi

Lengan Robot Pemindah Barang Berdasarkan Ukuran Tinggi

Real-time control of triglide robot using sliding mode control method

Bilateral control in delta robot by using Jacobian matrix

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