𝐴 𝐴 𝐵 𝐶

𝐵𝑻 𝐶 𝑻 𝐶 𝑻 𝐴𝑻

Bagan 1. Frames {A}, {B}, dan {C} dengan titik asal (origin) berada pada ujung-ujung sebuah wedge.
Sumber: John J. Craig, Introduction to Robotics: Mechanics and Control, 4th edition, 2017.
 𝐵 𝐵 𝑊 𝑆 𝑇
𝑊𝑻 𝑆𝑻 𝑇 𝑻 𝐺𝑻 𝐺𝑻

Bagan 2. Robot arm manipulator dan workstation.

Sumber: John J. Craig, Introduction to Robotics: Mechanics and Control, 4th edition, 2017.

𝐿1 𝐿2

𝑐1 𝑐2 −𝑐1 𝑠2 𝑠1 𝐿1 𝑐1
0 𝑠1 𝑐2 −𝑠1 𝑠2 −𝑐1 𝐿1 𝑠1
2𝑻 = [ ],
𝑠2 𝑐2 0 0
0 0 0 1

𝑐𝛼 = cos(𝛼) 𝑠𝛼 = sin(𝛼)
𝜃1 = 0
2
𝑃𝑡𝑖𝑝
0
𝑃𝑡𝑖𝑝
 Bagan 3. Suatu 2R robot arm manipulator: (a) diagram, dan (b) peletakan frame.
Sumber: John J. Craig, Introduction to Robotics: Mechanics and Control, 4th edition, 2017.

Bagan 4. Suatu robot RPR planar. Sumber: John J. Craig, Introduction to Robotics: Mechanics and Control, 4th edition, 2017.

𝑇11 𝑇12 0 𝑇14

𝑖−1 𝑇21 𝑇22 𝑇23 𝑇24
𝑖𝑻 = [ ],
𝑇31 𝑇32 𝑇33 0
0 0 0 1

𝑎𝑖−1 𝛼𝑖−1 𝑑𝑖
𝑎𝑖−1 𝛼𝑖−1 𝜃𝑖
 𝜃1 𝑑2 𝜃3

(𝑑2 + 𝐿2 + 𝐿3 ) sin 𝜃1
0
𝑷𝑌𝑂𝑅𝐺 = [−(𝑑2 + 𝐿2 + 𝐿3 ) cos 𝜃1 ].
0
𝜃1 𝑑2
0
𝑱(Θ)

.
Bagan 5. Suatu manipulator RPR. Sumber: John J. Craig, Introduction to Robotics: Mechanics and Control, 4th edition, 2017.

−𝐿 𝑠 − 𝐿2 𝑠12 −𝐿2 𝑠12

0
𝑱(Θ) = [ 1 1 ].
𝐿1 𝑐1 + 𝐿2 𝑐12 𝐿2 𝑐12

0
𝑭=
10𝑋̂0

𝜏1 = 𝑚1 𝑑12 𝜃̈1 + 𝑚1 𝑑2 𝜃̈1 + 𝑚2 𝑑22 𝜃̈1 + 2𝑚2 𝑑2 𝑑̇2 𝜃̇1 + 𝑚1 𝑑1 𝑔 cos(𝜃1 ) + 𝑚1 𝑑2 𝜃̇1 𝑔 cos(𝜃1 )
+ 𝑚2 𝑑2 𝑔 cos(𝜃1 ) + 𝑚2 𝑑̇2 𝑔 cos(𝜃1 ),
𝐹2 = 𝑚1 𝑑̇2 𝜃̈1 + 𝑚2 𝑑̈2 − 𝑚1 𝑑1 𝑑̇2 − 𝑚2 𝑑2 𝜃̇12 + 𝑚2 𝑑2 𝑔 sin(𝜃1 ) + 𝑚2 𝑔 sin(𝜃1 ),

𝜏 𝐹
𝑚 𝑑 𝑔 𝜃
 1
𝑷𝐶 = [2, 0, 0]𝑇 𝑡=0
𝜃1 = (𝑏 𝑡 + 𝑐 𝑡 2 )

𝛼1
𝑎𝐶1

Bagan 6. Model manipulator satu link. Sumber: John J. Craig, Introduction to Robotics: Mechanics and Control, 4th edition, 2017.