PENGATURAN GERAK KAKI HEXAPOD MENGGUNAKAN POLINOMIAL ORDE KE 3 DAN INVERSE KINEMATIC

SUDIRMAN, MAMAN (2022) PENGATURAN GERAK KAKI HEXAPOD MENGGUNAKAN POLINOMIAL ORDE KE 3 DAN INVERSE KINEMATIC. Sarjana (S1) thesis, Universitas Islam "45" bekasi.

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Abstract

In the design of the hexapod robot motion method, the movement pattern must be adjusted so that the hexapod robot can move in the desired direction. The movement pattern is used as a reference to determine the footsteps when the robot moves. One way to adjust the motion pattern of the hexapod robot is to use 3rd order polynomials and inverse kinematics. The inverse kinematics method aims to calculate the angle that must be reached by each joint of the robot's leg so that the position of the end of the robot's leg reaches the desired point and the robot's leg can move to various positions. The 3rd order polynomial method is an equation used to find the desired end point value in a certain iteration. The results of this study indicate that both controls can produce smooth foot movements and the robot can walk in the desired direction. The results of the measurement of the application of control on the robot's legs resulted in an average error of 16.64% on the step trajectory and 9.81% on the straight trajectory. Based on the measurement data obtained, the three joints in the legs of the hexapod robot can be adjusted using the cubic polynomial control method and using the inverse kinematic control method.

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