LAPORAN PRAKTIKUM ROBOTIKA 1

PERCOBAAN 1
RTSS (Robot Lengan Satu Sendi) dan RTDS (Robot Lengan Dua Sendi)

 Alat dan Bahan Nama Kelompok :

 Triplek
1. Abdul Aziz Rifaldi (3110171039)
 Busur derajat
2. Agung Purwanto (3110171046)
 Acrilyc
3. RR ardiyanti Putri (3110171060)
 Lem
 Milimeter Blok
 Gunting
 Mur baut 3mm
 Penggaris

 Data Hasil Praktikum

Inverse Kinematik RTSS

pengukuran perhitungan
Titik error
X Y L sudut Y/L sudut
P1 3.6 17.7 18 78 0.983333333 79.52468616 2%
P2 7.2 16.5 18 67 0.916666667 66.44353569 1%
P3 9.9 15 18 57 0.833333333 56.44269024 1%
P4 11.9 13.5 18 49 0.75 48.59037789 1%
P5 14 11.3 18 39 0.627777778 38.88636064 0%
P6 15.4 8.8 18 30 0.488888889 29.2675776 3%
P7 17.1 5.17 18 17 0.287222222 16.69172738 2%
P8 17.7 2.21 18 6 0.122777778 7.052443292 15%
P9 11.3 9.9 15 40 0.66 41.29987279 3%
P10 5.3 8.5 10 57 0.85 58.21166938 2%

Forward Kinematik RTSS

pengukuran perhitungan error
Titik
sudut x y L x y x y
P1 30 15.4 8.8 18 15.58845727 9 1% 2%
P2 20 16.05 6.4 18 16.91446717 6.15636258 5% 4%
P3 45 12.55 12.8 18 12.72792206 12.72792206 1% 1%
P4 50 11.2 13.9 18 11.57017697 13.78879998 3% 1%
 P5 70 5.9 16.9 18 6.15636258 16.91446717 4% 0%
P6 85 1.4 17.9 18 1.568803369 17.93150457 11% 0%
P7 16 11.5 3.5 12 11.53514035 3.30764827 0% 6%
P8 45 8.3 8.8 12 8.485281374 8.485281374 2% 4%
P9 60 5.9 10.6 12 6 10.39230485 2% 2%
P10 70 4 11.5 12 4.10424172 11.27631145 3% 2%

Inverse Kinematik RTDS

PENGUKURAN PERHITUNGAN
solusi solusi
Titik x y L1 L2
sudut 1 sudut 2 sudut2 sudut1
P1 1.8 27.9 18 12 69 223 223.4444287 63.29957064
P2 7.3 26.3 18 12 55 230 230.1218213 -63.78561909
P3 10.9 27.2 18 12 58 205 205.2731918 -71.13579355
P4 12.7 22.6 18 12 36 298 241.8138339 50.68556594
P5 16.1 22.6 18 12 36 226 225.6528003 66.87809783
P6 18.5 22.6 18 12 40 206 206.9721803 59.21973693
P7 19.2 20.5 18 12 31 222 222.0294388 5.797886367
P8 22.1 15.8 18 12 16 232 231.309317 61.50430512
P9 24.6 15.4 18 12 20 209 209.947696 -6.605017243
P10 25 12.4 18 12 7 224 223.999006 67.93434203

Forward Kinematik RTDS

PENGUKURAN PERHITUNGAN
Titik x y L1 L2
sudut 1 sudut 2 x y
P1 1.8 27.9 18 12 69 223 1.955343971 27.93065393
P2 7.3 26.3 18 12 55 230 7.218547313 26.33584671
P3 10.9 27.2 18 12 58 205 11.00097888 27.17541955
P4 12.7 22.6 18 12 36 298 3.776777343 15.8405883
P5 16.1 22.6 18 12 36 226 16.23238311 22.46335137
P6 18.5 22.6 18 12 40 206 18.66963969 22.53272247
P7 19.2 20.5 18 12 31 222 18.93747187 20.74634242
P8 22.1 15.8 18 12 16 232 21.79798965 16.08767866
P9 24.6 15.4 18 12 20 209 24.78717552 15.21287754
P10 25 12.4 18 12 7 224 25.41767542 11.51939972
 Gambar Percobaan