Repo Dosen ULM

Comparison of 4 DOF Arm Robot for Trajectory Planning with 3rd and 5th Polynomial Orders

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dc.contributor.author Rudi Cahyono, Gunawan
dc.date.accessioned 2023-04-27T02:51:59Z
dc.date.available 2023-04-27T02:51:59Z
dc.date.issued 2022
dc.identifier.citation https://ieeexplore.ieee.org/abstract/document/9902924 en_US
dc.identifier.uri https://repo-dosen.ulm.ac.id//handle/123456789/29809
dc.description.abstract Abstract: Technology's concept of automation has a big impact on life. One of the applications of this technology is the robotic arm. In this study, a 4 DOF (Degree of Freedom) arm robot with a microcontroller is tested for its movement results using the inverse kinematic method for calculating the angle of the robot joint and using a polynomial order with a reference point for the robot trajectory. The order of the polynomials used is 3rd and 5th order polynomials. Comparing the two polynomial orders is used to determine the best robot movement performance. The results are an error value for the accuracy of the robot's motion to move the object, respectively 0.5% and 0.9% on the x-axis, while 0.1% and 0.5% on the y-axis. The resulting average speed is 0.0402 m/s and 0.0431 m/s. The trajectory curve formed has a stable up and downtrend in each polynomial order. en_US
dc.language.iso en en_US
dc.publisher 2022 Electrical Power, Electronics, Communications, Controls and Informatics Seminar (EECCIS) en_US
dc.title Comparison of 4 DOF Arm Robot for Trajectory Planning with 3rd and 5th Polynomial Orders en_US
dc.type Article en_US


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