Turniti-IMPLEMENTATION OF THE LAGRANGE INTERPOLATION FUNCTION IN THE MOTION PLANNING SYSTEM OF A 1 DOF ROBOT ARM

Supratno, Setyo and Sugeng, Sugeng and Samsiana, Seta and Rokhman, Taufiqur (2023) Turniti-IMPLEMENTATION OF THE LAGRANGE INTERPOLATION FUNCTION IN THE MOTION PLANNING SYSTEM OF A 1 DOF ROBOT ARM. AIP Conference Proceeding, 2706 (1). ISSN 0094243X 15517616

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Official URL: https://pubs.aip.org/aip/acp/article-abstract/2706...

Abstract

Turnitin-A manipulator robot is a robot that has a mechanical system consisting of an arrangement of arms and joints that can produce controlled movements. With the arrangement of arms and joints, the motion of the manipulator robot can be likened to the motion of a human arm. A robotic arm usually consists of several joints including the base, shoulder, elbow, roll, gripper, and pitch of the gripper. Robot movement is generated from mathematical calculations performed in the controller. The motion of the manipulator robot follows a motion trajectory. The motion trajectory is made based on a collection of stop points and effectors. The stopping points are obtained from integers from 10 < 160, the numbers are positive and the values are not in the form of fractions or decimal numbers. Forecasting this point can be done using Lagrange interpolation. This study aims to create a robot motion trajectory design system using Lagrange interpolation. Lagrange interpolation is engineered to be embedded in precise microcontroller control systems. In this study, an Arduino Uno R3-based microcontroller was used as a data acquisition module.

Item Type:	Article
Keywords / Kata Kunci:	Robot manipulator, Arduino Uno, Lagrange Interpolation
Subjects:	Kendali/Kontrol
Faculty:	Fakultas Teknik > Teknik Elektro S1
Depositing User:	Mr Dr. Setyo Supratno, S.Pd., M.T.
Date Deposited:	05 Sep 2024 07:31
Last Modified:	05 Sep 2024 07:31
URI:	http://repository.unismabekasi.ac.id/id/eprint/6408

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