Implementation of 5-DOF Robot Arm Control with Inverse Kinematics Through Interactive GUI
DOI:
https://doi.org/10.30871/jaee.v10i1.12658Kata Kunci:
Lengan robot 5-DOF, Robotika pendidikan, ESP32, Kinematika inverse geometris, Antarmuka GUI interaktif, kontrol posisiAbstrak
Makalah ini memaparkan desain, implementasi, dan evaluasi eksperimental sistem kendali lengan robot 5-derajat kebebasan (5-DOF) yang didasarkan pada kinematika terbalik geometris dan antarmuka pengguna grafis berbasis Python untuk aplikasi pendidikan. Algoritma kinematika terbalik geometris dalam bentuk tertutup digunakan untuk menghitung sudut sendi dari posisi target Kartesius, memungkinkan perhitungan deterministik tanpa penyempurnaan numerik iteratif. Sistem kendali mengintegrasikan komputer host dan mikrokontroler ESP32 melalui komunikasi serial UART untuk menyediakan kendali waktu nyata, validasi ruang kerja, dan verifikasi kinematika berbasis perangkat lunak menggunakan kinematika maju. Untuk menyederhanakan kendali dan fokus pada tugas berbasis posisi, strategi orientasi pergelangan tangan tetap diterapkan. Hasil eksperimen menunjukkan bahwa waktu komputasi kinematika terbalik rata-rata 1,7 ms, sementara evaluasi akurasi posisi di wilayah ruang kerja representatif menghasilkan kesalahan rata-rata 2,46 mm dan kesalahan maksimum 4,91 mm. Hasil ini menunjukkan bahwa sistem yang diusulkan memberikan kinerja yang andal, cocok untuk robotika pendidikan dan eksperimen skala laboratorium menggunakan perangkat keras berbiaya rendah.
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