Tugas Robotika

Nama : Denanda Hendra (15/377977/PA/16452)

Romadhoni Adi D. C. (15/383151/PA/16811)

1. Sebuah robot lengan pemindah barang terdiri dari 6 joint revolute dengan link pertama
tegak lurus terhadap base masing-masing link panjangnya 30 cm.
a. Gambarkan bentuk lengan diatas beserta simbolnya
b. Tentukan matriksnya
Program pada Matlab :
%e = teta
%al1 = Alfa i - 1
%a1 = ai-1
%d1 = di

e1 = 0;
al1 = 0;
a1 = 0;
d1 = 30;
T1 = [cosd(e1) -sind(e1) 0 a1; sind(e1)*cosd(a1)
cosd(e1)*cosd(al1) -sind(al1) -sind(al1)*d1]

e2 = -90;
al2 = 0;
a2 = 0;
d2 = 30;
T2 = [cosd(e2) -sind(e2) 0 a2; sind(e2)*cosd(a2)
cosd(e2)*cosd(al2) -sind(al2) -sind(al2)*d2]

e3 = 0;
al3 = 90;
a3 = 0;
d3 = 30;
T3 = [cosd(e3) -sind(e3) 0 a3; sind(e3)*cosd(a3)
cosd(e3)*cosd(al3) -sind(al3) -sind(al3)*d3]

e4 = 0;
al4 = 0;
a4 = 0;
d4 = 30;
T4 = [cosd(e4) -sind(e4) 0 a4; sind(e4)*cosd(a4)
cosd(e4)*cosd(al4) -sind(al4) -sind(al4)*d4]

e5 = 0;
al5 = 0;
a5 = 0;
d5 = 30;
T5 = [cosd(e5) -sind(e5) 0 a5; sind(e5)*cosd(a5)
cosd(e5)*cosd(al5) -sind(al5) -sind(al5)*d5]

e6 = 0;
al6 = 0;
a6= 0;
d6 = 30;
T6 = [cosd(e6) -sind(e6) 0 a6; sind(e6)*cosd(a6)
cosd(e6)*cosd(al6) -sind(al6) -sind(al6)*d6]

Maka didapat hasil dengan matriks sebagai berikut :

T1 =
1 0 0 0
0 1 0 0

T2 =
0 1 0 0
-1 0 0 0

T3 =
1 0 0 0
0 0 -1 -30
T4 =
1 0 0 0
0 1 0 0

T5 =
1 0 0 0
0 1 0 0

T6 =
1 0 0 0
0 1 0 0

No. 2

Tabel parameter Denavit Hartenberg :

a−1 d
i θ α −1

1 30° 0° 0 30 cm
2 45° 30° 0 20 cm
3 10° −45° 0 20 cm
4 20° −10° 0 5 cm
5 5° 20° 0 5 cm

T01=[cosd(30) -sind(30) 0 0 ;
sind(30)*cosd(0) cosd(30) * cosd(0) -sind(0) -
sind(0)*30; sind(30)*sind(0) cosd(30)*sind(0) cosd(0)
cosd(0)*30; 0 0 0 1]
T12 =[cosd(45) -sind(45) 0 0 ;
sind(45)*cosd(30) cosd(45) * cosd(30) -sind(30) -
sind(30)*20;
sind(45)*sind(30) cosd(45)*sind(30) cosd(30)
cosd(30)*20; 0 0 0 1]

T23 =[cosd(10) -sind(10) 0 0 ;

sind(10)*cosd(-45) cosd(10)* cosd(-45) -sind(-45) -
sind(-45)*20;
sind(10)*sind(-45) cosd(10)*sind(-45) cosd(-45) cosd(-
45)*20;
0 0 0 1]

T34 =[cosd(20) -sind(20) 0 0 ;

sind(20)*cosd(-10) cosd(20) * cosd(-10) -sind(-10) -sind(-
10)*5;
sind(20)*sind(-10) cosd(20)*sind(-10) cosd(-10) cosd(-
10)*5; 0 0 0 1]

T45 =[cosd(5) -sind(5) 0 0 ;

sind(5)*cosd(20) cosd(5)*cosd(20) -sind(20) -
sind(20)*5; sind(5)*sind(20) cosd(5)*sind(20) cosd(20)
cosd(20)*5; 0 0 0 1]

T05 = T01 * T12 * T23 * T34 * T45

Didapatkan hasil matriksnya sebagai berikut :

T01 =
0.8660 -0.5000 0 0
0.5000 0.8660 0 0
0 0 1.0000 30.0000
0 0 0 1.0000

T12 =
0.7071 -0.7071 0 0
0.6124 0.6124 -0.5000 -10.0000
0.3536 0.3536 0.8660 17.3205
0 0 0 1.0000
 T23 =
0.9848 -0.1736 0 0
0.1228 0.6964 0.7071 14.1421
-0.1228 -0.6964 0.7071 14.1421
0 0 0 1.0000

T34 =
0.9397 -0.3420 0 0
0.3368 0.9254 0.1736 0.8682
-0.0594 -0.1632 0.9848 4.9240
0 0 0 1.0000

T45 =
0.9962 -0.0872 0 0
0.0819 0.9361 -0.3420 -1.7101
0.0298 0.3407 0.9397 4.6985
0 0 0 1.0000

T05 =
-0.1971 -0.9293 -0.3125 -9.0976
0.9792 -0.1712 -0.1088 -13.4846
0.0476 -0.3274 0.9437 73.1696
0 0 0 1.0000

Maka didapat :
Px = -9.0976
Py = -13.4846
Pz = 73.1696