Risky Odang Sanjaya, Novian Fajar Satria, Himmawan Sabda Maulana

Pemodelan dan simulasi kinematika robot SCARA 3 derajat kebebasan menggunakan MATLAB

Introduction

Pemodelan dan simulasi kinematika robot scara 3 derajat kebebasan menggunakan matlab. Teliti pemodelan & simulasi kinematika robot SCARA 3 DOF dengan MATLAB. Uji kinematika maju & terbalik, serta gerakan lifting untuk optimasi robot industri. Analisis error.

Abstract

Zaman yang serba canggih di semua aspek kehidupan sudah menggunakan bantuan teknologi. Seperti contoh dalam hal produksi barang di dalam industri yang hampir semua sektor sudah memakai bantuan teknologi. Untuk memperhitungkan pergerakan dari robot SCARA dibutuhkan perhitungan kinematika pada robot SCARA. Pemodelan kinematika untuk robot SCARA memberikan visualisasi fisik robot dalam model matematika. Penelitian ini bertujuan untuk menguji dan membuktikan teorema pemodelan kinematika maju (forward kinematics) dan kinematika terbalik (inverse kinematics) dalam simulasi serta pengujian lifting dan pengujian aktual langsung dengan robot SCARA. Simulasi kinematika pergerakan robot SCARA menggunakan perangkat lunak MATLAB. Penelitian terdahulu telah dirancang robot SCARA menggunakan konfigurasi revolute-translational-revolute dengan tidak menggunakan simulasi. Hasil dari pengujian kinematika maju menunjukkan bahwa rata-rata error pada nilai aktual pengukuran dan , dengan nilai paling tinggi pada selisih pada setiap pengukuran sudut. Serta hasil pengujian gerakan lifting pada SCARA memiliki error maksimal sebesar 2,72% dan error minimal sebesar 0,01%. Dengan rata-rata error yang dihasilkan adalah 0,64% dan pengujian dilakukan sebanyak 10 kali pecobaan dalam setiap parameter. ABSTRACT In today's advanced era, technology is integrated into all aspects of life. For instance, in the production of goods within industries, nearly all sectors have adopted technological assistance. To calculate the movements of a SCARA robot, kinematic calculations are essential. The kinematic modelling of a SCARA robot provides a physical visualization of the robot in a mathematical model. This study aims to test and validate the theorems of forward kinematics and inverse kinematics modelling through simulations and to examine the lifting mechanism as well as conduct direct practical testing with the SCARA robot. The kinematic simulations of the SCARA robot’s movements are performed using MATLAB software. In previous studies, the SCARA robot was designed using a revolute-translational-revolute configuration without simulation. The results of forward kinematics testing indicate that the average error in actual measurement values is 3.76% for and 2.98% for , with the highest deviation being 3° for each angle measurement. Additionally, the results of the lifting mechanism testing on the SCARA robot showed a maximum error of 2.72% and a minimum error of 0.01%, with an average error of 0.64% based on 10 trials for each parameter.

Review

This paper, "Pemodelan dan simulasi kinematika robot SCARA 3 derajat kebebasan menggunakan MATLAB," addresses a pertinent topic in robotics: the kinematic modelling and simulation of a 3-Degree of Freedom (DOF) SCARA robot. In an era where technological integration is pivotal across industries, particularly in manufacturing, the precise control of robotic movements through accurate kinematic calculations is paramount. The study's central aim is to develop a mathematical model for SCARA robot kinematics, offering a physical visualization, and subsequently validate both forward and inverse kinematics theorems via MATLAB simulations. Crucially, the research extends beyond simulation, incorporating practical validation through a lifting mechanism test and direct experimentation with a physical SCARA robot. The methodology adopted involved simulating the SCARA robot's movements using MATLAB software, a step forward from prior designs that lacked such simulation capabilities. A key strength of this work lies in the empirical comparison between simulated outcomes and actual measurements derived from a physical robot. The results for forward kinematics testing revealed an average error of 3.76% for one angular value and 2.98% for another, with the maximum deviation noted at 3 degrees for individual angle measurements. Furthermore, the practical evaluation of the lifting mechanism demonstrated commendable accuracy, reporting a maximum error of 2.72%, a minimum error of 0.01%, and an average error of 0.64% across 10 trials for each parameter. It is noteworthy that while inverse kinematics validation was an stated objective, detailed results for this aspect are not presented in the abstract. In conclusion, this study provides a valuable contribution to the field by not only developing and simulating a 3-DOF SCARA robot's kinematics but also by rigorously validating these theoretical models against a real-world robotic system. The specific error metrics presented for both forward kinematics and the lifting operation offer tangible proof of the simulation's fidelity and the robot's practical operational precision. The low average error observed in the lifting mechanism, in particular, underscores the system's potential reliability for industrial applications demanding high accuracy. Future research could fruitfully expand upon the detailed findings of the inverse kinematics validation, explore dynamic modelling, or investigate the integration of these kinematic models with advanced real-time control strategies.

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