Rigid Body Motion: The End Effector of 4-DoF Robot Motion Analysed by Denavit Hartenberg Method
Keywords:
Rigid Body, Denavit Hartenberg, Robot Motion, Transformation matrixAbstract
Rigid body motion is consist of two kinds motion which are rotational and translational motion, as an example is a robot kinematic motion. Robot forward kinematics refers to its final position (end effector), which combines rotational and translational motion along its trajectory. This research is a theoretical physics study that aims to analyze the end effector of a robot arm with four degrees of freedom (4-DoF) using the Denavit Hartenberg (DH) method and visualize the motion by using Simulink (DH-parameters) in MATLAB. This research was carried out through manual analysis and visualization of the equations obtained. This research provides the transformation matrix as a forward kinematics equation and visualize the motion by MATLAB.
References
Faiq, M., Satriatama, W., and Halim, L. (2022). Perancangan awal dan simulasi lengan robot 3 derajat kebebasan berbasis Arduino yang dikontrol dengan aplikasi. Jurnal Mechanical Engineering Mechatronics, 7(2), 118–130.
Gallardo-Alvarado, J., Rodriguez-Castro, R., Perez-Gonzalez, L., and Aguilar-Najera, C. R. (2018). Kinematics of the 3(RPSP)-S fully spherical parallel manipulator by means of screw theory. Robotics, 7(2). https://doi.org/10.3390/robotics7020029
Ge, D. (2022). Kinematics modeling of redundant manipulator based on screw theory and Newton-Raphson method. Journal of Physics: Conference Series, 2246(1), 012068. https://doi.org/10.1088/1742-6596/2246/1/012068
Hari Purwoto, B., Rindhani Rhokhim, D., and Indraswari, D. (2020). Pemodelan robot kinematik manipulator menggunakan Matlab. Jurnal Teknik Elektro, 20, 141–146.
Kucuk, S., and Bingul, Z. (2006). Robot kinematics: Forward and inverse kinematics. In Industrial Robotics: Theory, Modelling and Control (pp. 5015). Pro Literatur Verlag, Germany / ARS, Austria. https://doi.org/10.5772/5015
Murray, R. M., Li, Z., and Sastry, S. S. (1994). A mathematical introduction to robotic manipulation (Vol. 84, No. 788).
Salman, A. E., and Roman, M. (2022). Robot Kinematics.
Serrezuela, R. R., et al. (2017). Kinematic modelling of a robotic arm manipulator using Matlab. International Journal of Engineering Trends and Technology, 12(7).
Suddin, D., and Nasrullah, B. (2017). Rancang bangun robot manipulator yang bergerak secara translasi dan rotasi. Jurnal Teknik Mesin, 1, 151–156.
Utomo, B., and Munadi. (2013). Analisa forward dan inverse kinematics pada robot manipulator. Teknik Mesin S-1, 1(3), 1–10.
Yasmini, L. P. B., & Gunadi, I. G. A. (2012). Kajian awal penerapan konsep mekanika pada gerak robot dengan analisis aljabar.
