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PERANGKAT LUNAK PENGENDALI MANIPULATOR ROBOT ED-7220C : DENGAN MODEL PENGENDALIAN BERBASIS GUI, TEXT, DAN CAMERA

UROIDHI, ALI (2014) PERANGKAT LUNAK PENGENDALI MANIPULATOR ROBOT ED-7220C : DENGAN MODEL PENGENDALIAN BERBASIS GUI, TEXT, DAN CAMERA. Other thesis, University of Muhammadiyah Malang.

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Abstract

The robot manipulator is a name for a mechanical arm. Kinematics of the robot is divided into two. Forward kinematics and inverse kinematics. Forward kinematics is used to determine the position coordinates. Inverse kinematics is used to calculate the value of each variable joints. For the purpose of determining the location of the object's position sometimes requires several input models. Among these, is the input value of each Joint pulses, each joint angle values, and the value of the object coordinates. Many variables to control inputs like angle variable, pulses variable, and coordinates object, will be support in the control. So, we need an application control with some input control variables. Control models play a role in control of the robot. Model - based control model created in the GUI, TEXT, CAM. GUI control has input the coordinates and values of each joint angle or pulse. Put in a GUI control interface design. TEXT control have more flexible control because it can be controlled by condition. TEXT in the control condition in between branching and looping. Control of CAM functions as a sensor for the purpose of the object. The output of a CAM control point location of the object. Location of the object obtained from the 2D image processing on the camera. From the test results shown the control of each joint can use 2 kinematics (forward kinematics and invers kinematics), the control of the three models in determining the purpose of the object.

Item Type: Thesis (Other)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering > Department of Electrical Engineering (20201)
Depositing User: Halimatus Zahroh
Date Deposited: 03 Feb 2015 03:08
Last Modified: 03 Feb 2015 03:08
URI : http://eprints.umm.ac.id/id/eprint/15549

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