Analysis Of Kinematic For Legs Of A Hexapod Using Denavit-hartenberg Convention

Luo Qingsheng • Julpri Andika
Journal article Sinergi • 2018

Unduh teks lengkap
(English, 8 pages)

Abstrak

The headway of manipulator robots makes the development of a hexapod quite fast. Unfortunately, a hexapod is unstable to moving in a regular movement with some values added to programming algorithms. Various techniques implemented yet to the algorithms, like entering the degree values of each servo. However, to simplify the implementation of the algorithms, need some equations. This paper offered a hexapod control system based on Arduino that using Denavit-Hartenberg parameters to produce the equations. Various experiments have performed. Based on the experiments the offered system able to simplify the programming algorithms.

Metrik

  • 224 kali dilihat
  • 293 kali diunduh

Jurnal

Sinergi

Jurnal Ilmiah Sinergi adalah peer-reviewed jurnal yang diterbitkan 3 (tiga) kali dalam setahun, y... tampilkan semua