PERANCANGAN STRUKTUR RANGKA LENGAN ROBOT MEKANIK PEMINDAH BAHAN TIPE CARTESIAN COORDINATE

Cartesian coordinate control for redundant modular robots

This paper is focused on the kinematic control of redundant modular robots for trajectory tracing. Based on the geometric numerical inverse kinematic algorithm developed for modular robots, a new online control method is presented. In this method, the inverse kinematic solution can be optimized through constructing a weighted matrix. Following this approach, some fundamental interpolation algor...

Dissertation Struktur

Perancangan basisdata sistem informasi penggajian

s: The purpose of this research is to design database scheme of information system at ‘XYZ’ University. By using database design methods (conceptual scheme, logical scheme, & physical scheme) the writer designs payroll information system. The physical scheme is compatible with Borland Delphi Database Engine Scheme to support the implementation of the I.S. After 3 (three) steps we get 7 (seven) ...

Struktur- und verhaltensbasierte Entwurfsmustererkennung

fundiertes und präzises Ergebnis dar.

Coordinate-invariant algorithms for robot dynamics

In this article, we present, using methods from the theory of Lie groups and Lie algebras, a coordinate-invariant formulation of the dynamics of open kinematic chains. We first reformulate the recursive dynamics algorithm originally given in [8] for open chains in terms of standard linear operators on the Lie algebra of the Special Euclidean group. Using straight forward algebraic manipulations...