Endi Kumara - Tugas5
Endi Kumara - Tugas5
Nim : 09011281520098
Kelas : SK5 C
Mata Kuliah :Pengantar Robotika
Soal:
Turunkan persamaan invers kinematic dari lengan 3 DoF manipulator !
Jawab :
2 = (2 + 3 )2 + (3 1 )2
2 = (2 2 + 22 3 + 3 2 ) + (3 2 23 1 + 1 2 )
Aturan cos :
2 = 2 2 + 3 2 22 3 cos 3
(2 2 + 22 3 + 3 2 ) + (3 2 23 1 + 1 2 ) = 2 2 + 3 2 22 3 cos 3
22 3 + 3 2 23 1 + 1 2 = 22 3 cos 3
22 3 + 3 2 23 1 + 1 2
3 = cos1
22 3
Aturan sin :
2 1
2 = sin1
2
1 = 3600
Tampak atas terhadap sumbu x dan y :
Aturan tan :
2 = 2 sin 2
2 = 2 cos 2
2
2 = tan1
2
3 = 2 + 3 sin 3
3 = 2 + 3 cos 3
3
3 = tan1
3
1 = 3600
2 2 1
2 = tan1 + sin1
2 2
3 2 + 3 2 23 1 + 1 2
3 = tan1 + cos 1 2 3
3 22 3
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