TRANSFORMATION DESIGN FOR ALIGNMENT PROCESS IN 3D SCANNER PLATFORM USING THE DENAVIT-HARTENBERG METHOD

• Main Author: AUDITIA (NIM: 13205006); Pembimbing : Dr. Ir. Hilwadi Hindersah, M.Sc., EKA
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/15497
• Institution: Institut Teknologi Bandung

In these modern days, computer has become an important part in supporting human needs. There are a lot of aspects that can be done by the usage of computer which include the graphical data processing. There are many subjects that are included inside the graphical data processing. One of those subjects is the making of three dimensional image of an object into digital world. The making of three dimensional image of an object in the real world can be done by doing a <br /> <br /> <br /> scanning process to the object. In this final project, writers will have the concerns of designing the transformation for aligment process of the data in 3D scanner platform using The Denavit and Hartenberg Theorem. The alignment process can be described as aligning the moving coordinate system into an absolute coordinate system. This alignment process will be used for every data set, which obtained from image capturing in different positions, to have an absolute position value. In this final project, the data-saving-process of scanning data will also being discussed. The 3D scanner platform will have four degrees-of-freedom. From the movement of the platform, the transformation things will be made as <br /> <br /> <br /> mathematical models that represent the movement of moving coordinate system relatively to the absolute coordinate system. These mathematical models will be made by using The Denavit and Hartenberg Theorem and will be presented in matrices form. In the designing of transformation matrices, things like modelling the mathematical form for the implementastion to the system will be made. Those matrices will be implemented into the system by using C++ programming language.