DESIGN AND IMPLEMENTATION OF MANIPULATOR ROBOT SIMULATOR BASED ON PHYSICS ENGINE

• Main Author: CHANDRA NUGRAHA (NIM 23207165); Pembimbing: Dr. Ir. Hilwadi Hindersah, M.Sc., dan Dr. Ir. Ar, ARIADIE
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/14001
• Institution: Institut Teknologi Bandung

Recently, robotics field has advanced rapidly. It no more exclusively deal by the robotics researcher, but also by students from different backgrounds and hobbyist. One of the basic of robotics science is the understanding of kinematics and dynamics. A type of robot which is usually used as example of kinematics and dynamics in textbooks is industrial manipulator robots. Unfortunately this kind of robots or its trainer is very expensive, that the education institution in developing country like Indonesia seldom can afford one of them. Even if they could afford one, it is not enough for a class of students to practice sufficiently. To address this problem, we propose a robot simulation software that can simulate behaviour of the real manipulator robot, which we named SIRUPP (Simulator Robot Manipulator untuk Pembelajaran dan Perancangan / Manipulator Robot Simulator for Learning and Designing).<p>One of main components of SIRUPP is physics simulator module, other than networking and motion planning module. The objective of this research is to design and implement physics simulator module based on robot kinematics and dynamics, that a virtual robot will have similar behaviour with a real robot. This module will use a physics engine, i.e. Open Dynamics Engine (ODE), to simulate real robot behaviour in virtual world. Parameters that will be modeled in simulator module are Denavit-Hartenberg (D-H) kinematics parameters and dynamics parameters, i.e. mass and friction. Moreover the correspondence of the controlling method used in real world and its counterpart in simulation world will be examined. The feature of SIRUPP to control the real robot, enable us to obtain data from real robot behaviour, which will be used as reference data in simulation validation. <br />