LAPORAN PRAKTIKUM ROBOTIKA 1

PERCOBAAN 3
RTTS (Robot Lengan Tiga Sendi)

 Alat dan Bahan Nama Anggota 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 RTTS

PENGUKURAN PERHITUNGAN

Titik XT YT x y L1 L2 L3 ψ sudut 1 sudut 2 sudut 3

P1 8,92 38,77 1,8 27,9 18 12 13 2,1503999 63,29957064 223,4444287 -284,5936

P2 8 39,28 7,3 26,3 18 12 13 1,6246685 -63,78561909 230,1218213 -164,7115
P3 23,87 27,96 10,9 27,2 18 12 13 3,073643 -71,13579355 205,2731918 -131,0638
P4 22,88 30,69 12,7 22,6 18 12 13 2,4703943 50,68556594 241,8138339 -290,029
P5 24,74 32,28 16,1 22,6 18 12 13 2,2977753 66,87809783 225,6528003 -290,2331
P6 28,46 30,94 18,5 22,6 18 12 13 2,4436312 59,21973693 206,9721803 -263,7483
P7 32,17 19,65 19,2 20,5 18 12 13 3,073643 5,797886367 222,0294388 -224,7537
P8 26,82 27,91 22,1 15,8 18 12 13 1,9423644 61,50430512 231,309317 -290,8713
P9 28,38 27,83 24,6 15,4 18 12 13 1,865827 -6,605017243 209,947696 -201,4769
P10 33,52 22,21 25 12,4 18 12 13 2,2854881 67,93434203 223,999006 -289,6479
Forward Kinematik RTTS

PENGUKURAN PERHITUNGAN

Titik sudut 1 sudut 2 sudut 3 L1 L2 L3 XT YT

P1 5 20 40 18 12 13 34,30124 18,422224
P2 78,9 105,3 48,8 18 12 13 -16,326 6,402148
P3 70 4 38,9 18 12 13 4,405399 40,425018
P4 49 21 38,9 18 12 13 11,70238 37,160194
P5 33 60 43 18 12 13 5,116621 30,817616
P6 35 80 10 18 12 13 2,216824 31,849046
P7 50 8 65 18 12 13 10,8489 34,868095
P8 65 161 29 18 12 13 -4,09342 -4,8755732
P9 50 30 50 18 12 13 5,297716 35,565071
P10 30 30 30 18 12 13 21,58846 32,392305