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description Journal article public Jurnal Teknik Elektro Universitas Kristen Petra

Pemodelan Dan Simulasi Dinamika Lengan Robot 3-DOF Menggunakan Perangkat Lunak Open Source

Indar Sugiarto
Published September 2008

Abstract

This paper describes an alternative method for analyzing robot dynamics using open source software so-called ODE (open dynamic engine). Using ODE, an arm robot can be modeled and simulated in a simple but accurate fashion. The arm robot which is being modeled and simulated in this paper is the Movemaster EX RV-M1 from Mitsubishi. The simulation is performed after the robot has been completely modeled and the simulation was made so that all links within the robot will move simultaneously forming a straight line and rotating from 0° to 100°. The modeling and simulation result shows that each revolute joint of the robot requires distinct torque and it is found that at the speed of 1.26 rad/s, the elbow joint has the higher torque to move the body at the level of 3101.79 g.m2.s-2. This high torque was due to constraint force when the joint was moving altogether. This research does not produce any visualization effect but it can be extended to enrich any other simulator program which works according to kinematics modeling only.

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