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http://repository.ipb.ac.id/handle/123456789/65329
Title: | Implementasi Inverse Kinematics untuk Koordinasi Gerak Robot Berkaki Enam |
Authors: | Priandana, Karlisa Buono, Agus Wulandari |
Keywords: | Bogor Agricultural University (IPB) robot hexapod inverse kinematics |
Issue Date: | 2013 |
Abstract: | Six legged robot, or hexapod, is a kind of legged robots with static stability. The robot has many variants of leg movements. This should be taken into consideration by the robot designer. The research is to adopt a leg movement algorithm named inverse kinematics. Inverse kinematics is used to find each leg angle required to produce certain position of the end-effector. The experiments show that pulse width input can move the robot faster than that with end-effector displacement distance input. However, the distance input is more flexible due to its simplicity such that the user can input the desired end-effector displacement distance without relying on the pre-determined distances. The inverse kinematics algorithm has been developed, although it is not able to avoid or circumvent the barriers. |
URI: | http://repository.ipb.ac.id/handle/123456789/65329 |
Appears in Collections: | UT - Computer Science |
Files in This Item:
File | Size | Format | |
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G13wul.pdf Restricted Access | 1.45 MB | Adobe PDF | View/Open |
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