# PEMECAHAN MASALAH KINEMATIKA KE DEPAN PADA TANGAN ROBOT n-SEGMEN

## (SOLVING FORWARD KINEMATICS PROBLEMS IN n-SEGMENT ROBOT HAND)

• Bambang Hendriya Guswanto Universitas Jenderal Soedirman
• Alisya Masturoh
• Triyani Triyani

### Abstract

ABSTRACT. This article discusses a forward kinematics space for a robot’s hand with n arms in two dimensional Euclid space. The kinematics space of the robot’s hand is obtained by employing some geometrical transformations, those are rotation and dilatation. The solution of this problem is represented by a function corresponding a set of pairs of hinge configuration with a set of pairs of robot’s position and hand endpoint direction.
Keywords: Geometry Transformations, Robot’s Hand n-arms, Forward Kinematic Problem.

ABSTRAK. Artikel ini membahas tentang ruang gerak kinematik ke depan tangan robot dengan n lengan pada ruang Euclid berdimensi dua. Ruang kinematika tangan robot ini diperoleh dengan menggunakan beberapa tranformasi geometri yaitu rotasi dan dilatasi. Penyelesaian masalah kinematika ini direpresentasikan oleh suatu fungsi yang mengaitkan antara himpunan pasangan pengaturan sendi dan himpunan pasangan posisi dan arah ujung tangan robot.
Kata Kunci: Transformasi Geometri, Tangan Robot n-lengan, Permasalahan Gerak Kinematik ke Depan.

Published
2020-07-09
How to Cite
GUSWANTO, Bambang Hendriya; MASTUROH, Alisya; TRIYANI, Triyani. PEMECAHAN MASALAH KINEMATIKA KE DEPAN PADA TANGAN ROBOT n-SEGMEN. Jurnal Ilmiah Matematika dan Pendidikan Matematika, [S.l.], v. 12, n. 1, p. 1-13, july 2020. ISSN 2550-0422. Available at: <http://jos.unsoed.ac.id/index.php/jmp/article/view/2825>. Date accessed: 20 apr. 2024. doi: https://doi.org/10.20884/1.jmp.2020.12.1.2825.
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