MOBILE MANIPULATOR ROBOT PADA KASUS PEMINDAH BARANG

Authors

  • Faradila Irianti Polman Babel
  • Ely Firman Polman Babel
  • Muhammad iqbal nugraha Polman Babel
  • Yudhi Polman Babel

Keywords:

kinematics, mobile robot, manipulator robot

Abstract

The industrial world really expects an increase in performance by utilizing and creating the latest technology. Robot arm is one type of robot that is often used to perform various tasks to replace humans in the industrial world. By collaborating the function of the arm and wheel, it will produce the ability to move goods more effectively and efficiently. With a line tracing system or line detection, the mobile manipulator robot will move along the existing line to get to the place where the object is picked up, then the robot arm will function to pick up and put the object back to its destination. The output of this research is a mobile manipulator robot which has a maximum range of 237mm on the X-axis, 237mm on the Y-axis, and 224mm on the Z-axis and success in getting to the workpiece location using a line follower system while the manipulator with 3 DOF can reach the servo angle. a maximum of 120 degrees on the waist, 180 degrees on the upper and lower arms, and can clamp the workpiece with a rotating angle of up to 360 degrees.

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References

Craig, J. J. (2006) Book Review: Introduction to Robotics: Mechanics and Control. doi: 10.7227/ijeee.41.4.11.

Dzulkarnain, A. D., Dewantara, B. S. B. and Besari, A. . A. (2011) ‘Pengendalian Robot Lengan Beroda Dengan Kamera Untuk’, ITS Surabaya, (1).

Gustiana, M., Indrawaty, Y. and Febriandi, A. (2019) ‘Perancangan Mobile Manipulator Robot Secara Simulasi Menggunakan Microsoft Robotics Developer Studio’, MIND Journal, 3(1), pp. 15–23. doi: 10.26760/mindjournal.v3i1.15-23.

Julyus, M., Manullang, C. and Dewi, M. K. (2020) ‘Kendali Robot Beroda Otonom dengan Invers Kinematics Autonomous Wheeled Robot Control with Inverse Kinematics’, 7, pp. 62–73.

Yamamoto, Y. (1994) ‘Coordinated Control of A Mobile Manipulator’, Robotica, 16(March), pp. 607–613. Available at:

http://repository.upenn.edu/cis_reports/240/.

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Published

22-02-2022

How to Cite

Irianti, F., Firman, E., Muhammad iqbal nugraha, & Yudhi. (2022). MOBILE MANIPULATOR ROBOT PADA KASUS PEMINDAH BARANG. Prosiding Seminar Nasional Inovasi Teknologi Terapan, 2(01), 273–279. Retrieved from https://snitt.polman-babel.ac.id/index.php/snitt/article/view/169

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