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Industrial robot as one of aspects in industrial automation has been widely used, starting from automotive industry, electronics manufacturing up to consumer goods industry. Superiority of this industry are product resulted has better dimension accuracy and uniform geometry quality, and higher produ...
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| Format: | Theses |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/15442 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Industrial robot as one of aspects in industrial automation has been widely used, starting from automotive industry, electronics manufacturing up to consumer goods industry. Superiority of this industry are product resulted has better dimension accuracy and uniform geometry quality, and higher production speed. <br />
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Control design for high performance and efficiency systems, such as manipulator robot, kinematics-dynamics aspects and system development are necessary to be studied in order to meet the system specification required by <br />
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user at operational condition expected. <br />
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This thesis reviews the robotic basic aspect in which comprising of kinematics-, dynamics-, arm construction-, drive system-, arrangement system-, and control software-aspects. Specifically, this research is conducted towards <br />
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speed arrangement part, and rotational position of drive system of manipulator robot arm. Design and building the prototype of non-planar single link arm robot have been conducted, while testing towards dynamical characteristics, system parameter variation sensitivity, non-linear effects, and load disturbance has given an applicable result for further robotics development. |
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