?url_ver=Z39.88-2004&rft_id=1915031017&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=PERANCANGAN+MODEL+KINEMATIKA+MAJU+ROBOT+MANIPULATOR+MENGGUNAKAN+METODE%0D%0ADENAVIT-HARTENBERG&rft.creator=STEVEN+%2C+HARYANTO++&rft.subject=000+Ilmu+komputer%2C+informasi+dan+pekerjaan+umum&rft.subject=600+Teknologi+(ilmu+terapan)&rft.description=Robot+manipulator+adalah+jenis+robot+yang+terdiri+dari+lengan+yang+berfungsi+untuk+memindahkan+benda+dari+satu+posisi+ke+posisi+lain.+Biasanya+untuk+memindahkan+benda+dengan+cara+konvensional+yaitu+menggunakan+tenaga+manusia.+Perkembangan+teknologi+robotika+di+industri+membuat+pergerakan+benda+menggunakan+sistem+robot+lengan.+Pekerjaan+manusia+menjadi+lebih+mudah.+Penelitian+yang+dilakukan+mengarah+pada+robot+manipulator+dengan+merancang+model+kinematika+maju+menggunakan+metode+denavit-hartenberg.+Dalam+pengembangan+model+robot%2C+fokus+diberikan+pada+aspek+pergerakan+dan+penerapan+metode+denavit-hartenberg+untuk+merancang+parameter+yang+mengarahkan+gerakan+lengan+robot.+Penelitian+ini+menggunakan+arduino+sebagai+mikrokontroller+lengan+robot+manipulator+dan+pengujian+penelitian+dilakukan+dengan+membandingkan+posisi+end-effector+yang+dilakukan+dengan+pengukuran+dengan+posisi+end-effector+dengan+metode+yang+digunakan.Input+dari+robot+manipulator+ini+adalah+sudut+yang+sudah+ditentukan+dan+hasil+output+berupa+nilai+posisi+end-effector+lengan+robot+manipulator+yang+menggunakan+kinematika+maju+dengan+metode+denavit-hartenberg.Berdasarkan+hasil+penelitian+tersebut%2C+lengan+robot+manipulator+2+DOF+(Degree+Of+Freedom)+dapat+berpindah+tempat+dari+satu+posisi+ke+posisi+yang+lain%2C+dengan+rata-rata+error+posisi+x+sebesar+1%2C6660%25%2C+rata-rata+error+posisi+y+sebesar+2%2C4940%25+dan+rata-rata+error+posisi+z+sebesar+7%2C6560%25.%0D%0AKata+Kunci%3A+Robot+manipulator%2C+kinematika+maju%2C+Denavit-Hartenberg%2C+Model%2C+Degree+of+Freedom.%0D%0A%0D%0AManipulator+robot+is+a+type+of+robot+that+consists+of+an+arm+that+functions+to+move+objects+from+one+position+to+another.+Usually%2C+to+move+objects+using+conventional+methods%2C+namely+using+human+power.+The+development+of+robotics+technology+has+made+the+movement+of+objects+into+industry+with+robotic+arm+systems.+By+using+a+robot+manipulator%2C+human+work+becomes+easier.+The+research+carried+out+leads+to+a+robot+manipulator+arm+by+designing+an+forward+kinematics+model+using+the+Denavit-Hartenberg+method.+In+developing+the+robot+model%2C+focus+is+given+to+the+movement+aspect+and+the+application+of+the+Denavit-Hartenberg+method+to+design+parameters+that+direct+the+arm%E2%80%99s+robot+movement.+This+research+uses+an+Arduino+as+a+robot+manipulator+microcontroller+and+research+testing+is+carried+out+by+comparing+the+position+of+the+end-effector+which+is+carried+out+by+measuring+the+position+of+the+end-effector+with+the+method+used.+The+input+of+this+robot+manipulator+is+the+angles+that+have+been+determined+and+the+output+results+is+in+the+form+of+the+end-effector+position+value+of+the+arm+robot+manipulator+which+uses+forward+kinematics+with+the+Denavit-Hartenberg+method.+Based+on+the+results+of+this+research%2C+a+2+DOF+(Degree+of+Freedom)+arm+robot+can+move+from+one+position+to+another.+where+the+x+position+error+is+equal+to+1%2C6660%25%2C+y+position+error+is+2%2C4940%25+and+z+position+error+is+7%2C6560%25.%0D%0AKeywords%3A+Manipulator+robot%2C+Forward+kinematics%2C+Denavit-Hartenberg%2C+Model%2C+Degree+of+Freedom.&rft.publisher=FAKULTAS+TEKNIK&rft.date=2023-11-29&rft.type=Skripsi&rft.type=NonPeerReviewed&rft.format=text&rft.identifier=http%3A%2F%2Fdigilib.unila.ac.id%2F77766%2F1%2FABSTRAK.pdf&rft.format=text&rft.identifier=http%3A%2F%2Fdigilib.unila.ac.id%2F77766%2F2%2FSKRIPSI%2520FULL.pdf&rft.format=text&rft.identifier=http%3A%2F%2Fdigilib.unila.ac.id%2F77766%2F3%2FSKRIPSI%2520TANPA%2520BAB%2520PEMBAHASAN.pdf&rft.identifier=++STEVEN+%2C+HARYANTO+++(2023)+PERANCANGAN+MODEL+KINEMATIKA+MAJU+ROBOT+MANIPULATOR+MENGGUNAKAN+METODE+DENAVIT-HARTENBERG.++FAKULTAS+TEKNIK%2C+UNIVERSITAS+LAMPUNG.+++++&rft.relation=http%3A%2F%2Fdigilib.unila.ac.id%2F77766%2F