THE SIMULATION OF SCARA ROBOT ARM BY USING BORLAND C++

• Main Author: SURYADI (NIM : 23103014); Pembimbing : Dr. Ir. Indrawanto, ARIS
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/15024
• Institution: Institut Teknologi Bandung

In robotic learning process it is required a teaching aids to express relation of joint movement, end-effectors and in their opposite direction. Besides changing of position and orientation, it will also show for velocity amendment in joint space and Cartesian space. <br /> <br /> <br /> In this research, it has been created one teaching aids like a computer program to display tool simulation. It can accept input and give output which content position <br /> <br /> <br /> information, orientation or robot velocity in numeric and visual simulation. <br /> <br /> <br /> This thesis is using SCARA robot as the model. Movement simulation of this robot is differentiated from kinematics equation such as forward kinematics and inverse kinematics equations. For the velocity calculation the Jacobian matrix and inverse Jacobian matrix has been applied. For making the movement simulation of this robot, Borland C++ has been used. <br /> <br /> <br /> From this simulation program that has been made, it can be shown an animation movement of graphic model from SCARA robot according to input which has been given. Moreover, this model can also show space situation which <br /> <br /> <br /> reachable/unreachable and singularity condition.