61
LAMPIRAN
62
MulaiMemilih dan menentukan bagian manipulator yang akan dimodifikasi
Disain kasar bentuk modifikasi manipulator
Mencari komponen konstruksi utama di pasaran
Memodifikasi ulang komponen konstruksi sehingga sesuai dengan disain yang diinginkan
Pembuatan prototipe
Pengintegrasian antara komponen mekanik dengan elektronik
Uji fungsional alat
Berhasil
Pembuatan program pengendalian manipulator
Pengujian
Selesai
Modifikasi Lampiran 1. Tahapan Penelitian
Tidak
63
Mulai
Masukkan titik koordinat
ruang
Titik koordinat masih
dalam jangkauan
Perhitungan konversi
Joint 3 bergerak sesuai koordinat
Joint 1 dan joint 2 bergerak bersamaan sesuai
koordinat
Ke koordinat
selanjutnya
Bergerak ke limit switch
Selesai
Lampiran 2. Diagram alir program pengendalian manipulatorTidak
Ya
Ya
64
Lampiran 3. Kalibrasi motor joint 3No
Arah kiri
Arah kanan
Timer (ms)
sudut
(°)
Timer (ms)
sudut
(°)
1
20
2
20
2
2
40
3
40
4
3
60
6
60
6
4
80
8
80
8
5
100
13
100
10
6
120
15
120
12
7
140
17
140
14
8
160
20
160
16
9
180
22
180
17
10
200
24
200
19
11
220
26
220
21
12
240
28
240
24
13
260
30
260
26
14
280
33
280
27
15
300
35
300
29
16
320
36
320
31
65
Lampiran 4. Koreksi motor joint 1No
Arah kiri Arah kanan
Sudut input (°) Sudut aktual (°) Simpangan (°) Sudut input (°) Sudut aktual (°) Simpangan (°)
1 5 5 0 5 5 0 2 10 11 1 10 11 1 3 20 22 2 20 24 4 4 30 33 3 30 36 6 5 40 43 3 40 46 6 6 50 53 3 50 58 8 7 60 63 3 60 68 8 8 70 73 3 70 80 10 9 80 83 3 80 90 10 10 90 94 4 90 101 11
66
Lampiran 5. Validasi motor joint 1 putaran arah kiriPengujian
Sudut input (°)
Sudut
aktual (°) Simpangan (°) Ketepatan (%)
Error (%) 1 5 5 0 100.00 0.00 5 0 100.00 0.00 5 0 100.00 0.00 2 10 10 0 100.00 0.00 10 0 100.00 0.00 10 0 100.00 0.00 3 20 20 0 100.00 0.00 20 0 100.00 0.00 20 0 100.00 0.00 4 30 30 0 100.00 0.00 30 0 100.00 0.00 30 0 100.00 0.00 5 40 40 0 100.00 0.00 39 -1 97.50 2.50 40 0 100.00 0.00 6 60 60 0 100.00 0.00 60 0 100.00 0.00 61 1 98.33 1.67 7 80 80 0 100.00 0.00 80 0 100.00 0.00 80 0 100.00 0.00 8 100 100 0 100.00 0.00 100 0 100.00 0.00 100 0 100.00 0.00 9 120 120 0 100.00 0.00 120 0 100.00 0.00 119 -1 99.17 0.83 10 140 140 0 100.00 0.00 139 -1 99.29 0.71 139 -1 99.29 0.71 Rata-rata 0.17 99.79 0.21
67
Lampiran 6. Validasi motor joint 1putaran arah kananPengujian
sudut input
(°) sudut aktual (°) simpangan (°)
Ketepatan (%) Eror (%) 1 5 6 1 80.00 20.00 5 0 100.00 0.00 5 0 100.00 0.00 2 10 10 0 100.00 0.00 10 0 100.00 0.00 10 0 100.00 0.00 3 20 21 1 95.00 5.00 20 0 100.00 0.00 20 0 100.00 0.00 4 30 30 0 100.00 0.00 30 0 100.00 0.00 30 0 100.00 0.00 5 40 40 0 100.00 0.00 39 -1 97.50 2.50 39 -1 102.50 -2.50 6 60 61 1 98.33 1.67 60 0 100.00 0.00 61 1 98.33 1.67 7 80 81 1 98.75 1.25 82 2 97.50 2.50 80 0 100.00 0.00 8 100 100 0 100.00 0.00 99 -1 101.00 -1.00 101 1 99.00 1.00 9 120 121 1 99.17 0.83 121 1 99.17 0.83 120 0 100.00 0.00 10 140 139 -1 100.71 -0.71 139 -1 99.29 0.71 139 -1 99.29 0.71 Rata-rata 0.53 98.85 1.15
68
Lampiran 7. Koreksi persamaan kalibrasi awal sudut putar joint 2.No
Arah kanan Arah kanan
pulsa sudut perhitungan (°) sudut aktual (°) simpangan (°) pulsa sudut perhitungan (°) sudut aktual (°) simpangan (°) 1 1 0.9 6 5.1 1 0.9 5 4.1 2 2 1.8 9 7.2 2 1.8 7 5.2 3 3 2.7 12 9.3 3 2.7 8 5.3 4 5 4.5 15 10.5 5 4.5 9 4.5 5 6 5.4 14 8.6 6 5.4 10 4.6 6 7 6.3 12 5.7 7 6.3 12 5.7 7 10 9 13 4 10 9 17 8 8 15 13.5 20 6.5 15 13.5 25 11.5 9 17 15.3 22 6.7 17 15.3 30 14.7 10 20 18 25 7 20 18 27 9 11 25 22.5 26 3.5 25 22.5 33 10.5 12 30 27 37 10 30 27 38 11 13 40 36 51 15 40 36 43 7 14 50 45 54 9 50 45 50 5 15 60 54 59 5 60 54 69 15 16 70 63 71 8 70 63 75 12 17 80 72 89 17 80 72 76 4 18 90 81 85 4 90 81 90 9 19 100 90 98 8 100 90 97 7 20 120 108 119 11 120 108 116 8 21 150 135 139 4 150 135 148 13 22 170 153 170 17 170 153 164 11 23 180 162 176 14 180 162 173 11 24 200 180 187 7 200 180 189 9 25 250 225 230 5 250 225 234 9 26 270 243 248 5 270 243 255 12
rata-rata simpangan sudut (°) 8.2 rata-rata simpangan sudut (°) 8.7 nilai kelebihan (pulsa) 9 nilai kelebihan (pulsa) 9
69
Lampiran 8. Validasi motor joint 2 putaran arah kiriPengujian
sudut
input (°) sudut aktual (°) simpangan (°) Ketepatan (%) Eror (%) 1 5 6 1 80.00 20.00 5 0 100.00 0.00 4 -1 80.00 20.00 2 10 13 3 70.00 30.00 11 1 90.00 10.00 14 4 60.00 40.00 3 20 18 -2 90.00 10.00 19 -1 95.00 5.00 22 2 90.00 10.00 4 50 55 5 90.00 10.00 58 8 84.00 16.00 54 4 92.00 8.00 5 70 75 5 92.86 7.14 71 1 98.57 1.43 73 3 95.71 4.29 6 90 86 -4 95.56 4.44 87 -3 96.67 3.33 92 2 97.78 2.22 7 100 99 -1 99.00 1.00 104 4 96.00 4.00 102 2 98.00 2.00 8 150 150 0 100.00 0.00 152 2 98.67 1.33 153 3 98.00 2.00 9 200 202 2 99.00 1.00 199 -1 99.50 0.50 203 3 98.50 1.50 10 250 255 5 98.00 2.00 253 3 98.80 1.20 254 4 98.40 1.60 Rata-rata 2.67 92.67 7.33
70
Lampiran 9. Validasi motor joint 2 putaran arah kananPengujian
sudut
input (°) sudut aktual (°) simpangan (°) Ketepatan (%) Eror (%) 1 5 6 1 80.00 20.00 7 2 60.00 40.00 4 -1 80.00 20.00 2 10 11 1 90.00 10.00 10 0 100.00 0.00 13 3 70.00 30.00 3 20 18 -2 90.00 10.00 17 -3 85.00 15.00 22 2 90.00 10.00 4 50 53 3 94.00 6.00 51 1 98.00 2.00 52 2 96.00 4.00 5 70 71 1 98.57 1.43 68 -2 102.86 -2.86 72 2 97.14 2.86 6 90 87 -3 96.67 3.33 92 2 102.22 -2.22 89 -1 101.11 -1.11 7 100 101 1 101.00 -1.00 98 -2 102.00 -2.00 102 2 98.00 2.00 8 150 151 1 99.33 0.67 149 -1 100.67 -0.67 153 3 98.00 2.00 9 200 203 3 98.50 1.50 198 -2 99.00 1.00 204 4 98.00 2.00 10 250 248 -2 100.80 -0.80 252 2 99.20 0.80 254 4 98.40 1.60 Rata-rata 1.96 94.15 5.850952
71
Lampiran 10. Kalibrasi motor joint 3 logika 1No Gerakan ke atas Gerakan ke bawah Pulsa Jarak (mm) Pulsa Jarak (mm)
1 0 0 0 0 2 10 3 10 740 3 20 4 20 739 4 30 4 30 739 5 40 5 40 738 6 50 6 50 737 7 60 7 60 736 8 70 8 70 735 9 80 9 80 734 10 90 10 90 733 11 100 10 100 733 12 110 11 110 732 13 120 14 120 729 14 130 16 130 727 15 140 16 140 727 16 150 17 150 726 17 160 17 160 726 18 170 18 170 725 19 180 18 180 725 20 190 19 190 724 21 200 20 200 723 22 210 20 210 723 23 220 21 220 722 24 230 21 230 722 25 240 22 240 721 26 250 23 250 720 27 260 24 260 719 28 270 24 270 719 29 280 25 280 718 30 290 27 290 716 31 300 29 300 714 32 310 31 310 712 33 320 29 320 714 34 330 30 330 713
72
Lampiran 10. Kalibrasi motor joint 3 logika 1(lanjutan)No
Gerakan ke atas Gerakan ke bawah Pulsa Jarak (mm) Pulsa Jarak (mm)
35 340 30 340 713 36 350 31 350 712 37 360 31 360 712 38 370 31 370 712 39 380 34 380 709 40 390 34 390 709 41 400 35 400 708
73
Lampiran 11. Koreksi motor joint 3 logika 1 pergerakan arah atasNo Input (mm) Aktual (mm) Simpangan (mm)
1 5 2 -3 2 10 8 -2 3 20 20 0 4 40 41 1 5 60 66 6 6 80 90 10 7 100 113 13 8 150 174 24 9 200 233 33 10 250 282 32 11 300 335 35 12 320 360 40 13 350 391 41 14 370 417 47 15 400 449 49 16 430 485 55
74
Lampiran 12. Koreksi motor joint 3 logika 1 pergerakan arah bawahNo
Jarak input (mm)
Jarak aktual (mm)
Simpangan (mm)
1
5
6
1
2
10
12
2
3
20
23
3
4
40
45
5
5
60
71
11
6
80
92
12
7
100
117
17
8
150
175
25
9
200
233
33
10
250
291
41
11
300
349
50
12
320
373
53
13
350
407
57
14
370
432
62
15
400
467
67
16
430
503
73
75
Lampiran 13. Validasi motor joint 3 logika 1 pergerakan arah atasPengujian jarak input (mm) jarak aktual (mm) simpangan (mm) Ketepatan (%) Eror (%) 1 5 5 0 100.00 0.00 6 1 80.00 20.00 5 0 100.00 0.00 2 10 11 1 90.00 10.00 12 2 80.00 20.00 10 0 100.00 0.00 3 50 53 3 94.00 6.00 49 -1 98.00 2.00 55 5 90.00 10.00 4 100 94 -6 94.00 6.00 99 -1 99.00 1.00 101 1 99.00 1.00 5 150 148 -2 98.65 1.35 145 -5 96.62 3.38 154 4 97.30 2.70 6 200 209 9 95.50 4.50 197 -3 98.50 1.50 205 5 97.50 2.50 7 250 243 -7 97.20 2.80 247 -3 98.80 1.20 241 -9 96.40 3.60 8 300 302 2 99.33 0.67 295 -5 98.33 1.67 297 -3 99.00 1.00 9 350 347 -3 99.14 0.86 350 0 100.00 0.00 342 -8 97.71 2.29 10 400 410 10 97.50 2.50 409 9 97.75 2.25 402 2 99.50 0.50 Rata-rata 3.67 96.29 3.71
76
Lampiran 14. Validasi motor joint 3 logika 1 pergerakan arah bawahPengujian jarak input (mm) jarak aktual (mm) simpangan (mm) Ketepatan (%) Eror (%) 1 5 5 0 100.00 0.00 5 0 100.00 0.00 6 1 80.00 20.00 2 10 9 -1 90.00 10.00 8 -2 80.00 20.00 10 0 100.00 0.00 3 50 50 0 100.00 0.00 52 2 96.00 4.00 53 3 94.00 6.00 4 100 104 4 96.00 4.00 103 3 97.00 3.00 97 -3 97.00 3.00 5 150 146 -4 97.33 2.67 154 4 97.33 2.67 147 -3 98.00 2.00 6 200 209 9 95.50 4.50 206 6 97.00 3.00 205 5 97.50 2.50 7 250 248 -2 99.20 0.80 253 3 98.80 1.20 256 6 97.60 2.40 8 300 296 -4 98.67 1.33 293 -7 97.67 2.33 297 -3 99.00 1.00 9 350 341 -9 97.43 2.57 346 -4 98.86 1.14 342 -8 97.71 2.29 10 400 403 3 99.25 0.75 398 -2 99.50 0.50 398 -2 99.50 0.50 Rata-rata 3.43 96.53 3.47
77
Lampiran 15. Kalibrasi motor joint 3 pulsa encoderNo Gerakan ke atas Gerakan ke bawah Pulsa Jarak (mm) Pulsa Jarak (mm)
1 5 1 5 2 2 10 2 10 2 3 20 3 20 5 4 30 4 30 5 5 40 5 40 6 6 50 7 50 8 7 60 9 60 10 8 70 9 70 12 9 80 12 80 12 10 90 13 90 13 11 100 13 100 15 12 115 17 115 18 13 130 18 130 20 14 150 21 150 22 15 175 20 175 26 16 200 28 200 30 17 250 37 250 37 18 300 40 300 45 19 400 57 400 58 20 500 65 500 73 21 600 84 600 87 22 700 87 700 103 23 850 110 850 122 24 1000 126 1000 148 25 1200 155 1200 178 26 1400 178 1400 197 27 1700 218 1700 236 28 2000 252 2000 286
78
Lampiran 16. Koreksi motor joint 3 pulsa encoderNo
Gerakan arah atas
Gerakan arah bawah
Jarak input (mm) Jarak aktual (mm) Simpangan (mm) Jarak input (mm)
Jarak aktual (mm)
Simpangan (mm)
1
10
6
-4
10
7
-3
2
50
50
0
50
51
1
3
100
105
5
100
105
5
4
120
126
6
120
128
8
5
150
158
8
150
163
13
6
180
197
17
180
195
15
7
200
218
18
200
218
18
8
230
251
21
230
251
21
9
250
274
24
250
274
24
10
270
302
32
270
297
27
11
300
337
37
300
333
33
12
320
361
41
320
357
37
13
350
399
49
350
392
42
14
370
421
51
370
416
46
15
400
456
56
400
448
48
16
450
510
60
450
500
50
79
Lampiran 17. Hasil validasi motor joint 3 pulsa encoder pergerakan arah atasPengujian Jarak input (mm) Jarak aktual (mm) Simpangan (mm) Ketepatan (%) Eror (%) 1 5 6 1 80.00 20.00 5 0 100.00 0.00 6 1 80.00 20.00 2 10 9 -1 90.00 10.00 9 -1 90.00 10.00 8 -2 80.00 20.00 3 50 50 0 100.00 0.00 45 -5 90.00 10.00 47 -3 94.00 6.00 4 100 95 -5 95.00 5.00 97 -3 97.00 3.00 93 -7 93.00 7.00 5 150 152 2 98.67 1.33 155 5 96.67 3.33 151 1 99.33 0.67 6 200 202 2 99.00 1.00 201 1 99.50 0.50 208 8 96.00 4.00 7 250 253 3 98.80 1.20 249 -1 99.60 0.40 252 2 99.20 0.80 8 300 310 10 96.67 3.33 308 8 97.33 2.67 309 9 97.00 3.00 9 350 353 3 99.14 0.86 358 8 97.71 2.29 351 1 99.71 0.29 10 400 407 7 98.25 1.75 410 10 97.50 2.50 405 5 98.75 1.25 Rata-rata 3.83 95.26 4.74
80
Lampiran 18. Hasil validasi motor joint 3 pulsa encoder pergerakan arah bawahPengujian Jarak input (mm) Jarak aktual (mm) Simpangan (mm) Ketepatan (%) Eror (%) 1 5 5 0 100.00 0.00 5 0 100.00 0.00 4 -1 80.00 20.00 2 10 11 1 90.00 10.00 11 1 90.00 10.00 15 5 50.00 50.00 3 50 50 0 100.00 0.00 49 -1 98.00 2.00 45 -5 90.00 10.00 4 100 102 2 98.00 2.00 98 -2 98.00 2.00 105 5 95.00 5.00 5 150 154 4 97.33 2.67 150 0 100.00 0.00 153 3 98.00 2.00 6 200 202 2 99.00 1.00 201 1 99.50 0.50 194 -6 97.00 3.00 7 250 258 8 96.80 3.20 255 5 98.00 2.00 253 3 98.80 1.20 8 300 310 10 96.67 3.33 307 7 97.67 2.33 309 9 97.00 3.00 9 350 345 -5 98.57 1.43 346 -4 98.86 1.14 348 -2 99.43 0.57 10 400 403 3 99.25 0.75 390 -10 97.50 2.50 392 -8 98.00 2.00 Rata-rata 3.76 95.21 4.79
81
Lampiran 19. Hasil validasi motor joint 3 pewaktu pergerakan arah atasPengujian Jarak input (mm) Jarak aktual (mm) Simpangan (mm) Ketepatan (%) Eror (%)
1
5
5
0 100.00 0.005
0 100.00 0.006
1 80.00 20.002
10
10
0 100.00 0.0010
0 100.00 0.0010
0 100.00 0.003
50
52
2 96.00 4.0050
0 100.00 0.0051
1 98.00 2.004
100
99
-1 99.00 1.00100
0 100.00 0.00102
2 98.00 2.005
150
150
0 100.00 0.00150
0 100.00 0.00151
1 99.33 0.676
200
198
-2 99.00 1.00202
2 99.00 1.00200
0 100.00 0.007
250
250
0 100.00 0.00255
5 98.00 2.00251
1 99.60 0.408
300
305
5 98.33 1.67301
1 99.67 0.33300
0 100.00 0.009
350
350
0 100.00 0.00348
-2 99.43 0.57351
1 99.71 0.2910
400
400
0 100.00 0.00405
5 98.75 1.25401
1 99.75 0.25Rata-rata
1.1
98.72 1.280794
82
Lampiran 20. Hasil validasi motor joint 3 pewaktu pergerakan arah bawahPengujian Jarak input (mm) Jarak aktual (mm) Simpangan (mm) Ketepatan (%) Eror (%) 1 5 5 0 100.00 0.00 5 0 100.00 0.00 5 0 100.00 0.00 2 10 11 1 90.00 10.00 10 0 100.00 0.00 9 -1 90.00 10.00 3 50 50 0 100.00 0.00 51 1 98.00 2.00 50 0 100.00 0.00 4 100 100 0 100.00 0.00 101 1 99.00 1.00 102 2 98.00 2.00 5 150 151 1 99.33 0.67 150 0 100.00 0.00 149 -1 99.33 0.67 6 200 204 4 98.00 2.00 202 2 99.00 1.00 200 0 100.00 0.00 7 250 254 4 98.40 1.60 250 0 100.00 0.00 251 1 99.60 0.40 8 300 302 2 99.33 0.67 301 1 99.67 0.33 298 -2 99.33 0.67 9 350 350 0 100.00 0.00 353 3 99.14 0.86 351 1 99.71 0.29 10 400 398 -2 99.50 0.50 403 3 99.25 0.75 400 0 100.00 0.00 Rata-rata 1.1 98.82 1.18
83
Lampiran 21. Hasil pengujian manipulator dari limit switch ke koordinat tujuan tanpa bebanNo
input aktual simpangan Ketelitian
x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x(%) y(%) z(%) 1 600 200 400 604 221 398 4 21 -2 99.33 89.50 99.50 2 300 600 400 313 589 402 13 -11 2 95.67 98.17 99.50 3 -300 600 400 -286 587 406 14 -13 6 95.33 97.83 98.50 4 -550 300 700 -541 282 706 9 -18 6 98.36 94.00 99.14 5 400 -250 600 424 -239 604 24 11 4 94.00 95.60 99.33 6 -600 -200 550 -567 -224 548 33 -24 -2 94.50 88.00 99.64 7 700 50 850 717 71 853 17 21 3 97.57 58.00 99.65 8 150 750 650 163 728 648 13 -22 -2 91.33 97.07 99.69 9 -100 630 380 -114 619 380 -14 -11 0 86.00 98.25 100.00 10 -400 300 420 -389 291 424 11 -9 4 97.25 97.00 99.05 11 -200 -300 530 -206 -297 527 -6 3 -3 97.00 99.00 99.43 12 -200 550 680 -190 531 681 10 -19 1 95.00 96.55 99.85 13 520 220 410 498 192 413 -22 -28 3 95.77 87.27 99.27 14 390 410 530 384 393 535 -6 -17 5 98.46 95.85 99.06 15 430 -110 740 393 -118 736 -37 -8 -4 91.40 92.73 99.46 16 -310 -230 670 -315 -239 671 -5 -9 1 98.39 96.09 99.85 17 -440 520 620 -425 544 623 15 24 3 96.59 95.38 99.52 18 -240 -30 570 -249 -23 574 -9 7 4 96.25 76.67 99.30 19 310 -357 560 301 -352 557 -9 5 -3 97.10 98.60 99.46 20 -470 380 740 -464 400 746 6 20 6 98.72 94.74 99.19 Rata-rata 13.85 15.05 3.2 95.70 92.31 99.42
84
Lampiran 21. Hasil pengujian menipulator dari limit switch ke koordinat tujuan tanpa beban (lanjutan)No
joint 1 joint 2 joint 3
input (°) aktual (°) simpangan (°) input (°) aktual (°) simpangan (°) input (mm) aktual (mm) simpangan (mm)
1 63 63 0 261 258 -3 39 37 -2 2 103 101 -2 252 251 -1 39 41 2 3 76 75 -1 107 105 -2 39 45 6 4 105 106 1 95 94 -1 339 345 6 5 29 29 0 293 291 -2 239 243 4 6 153 154 1 95 90 -5 189 187 -2 7 41 42 1 251 249 -2 489 492 3 8 107 107 0 234 237 3 290 288 -2 9 54 55 1 97 96 -1 19 19 0 10 84 83 -1 71 70 -1 59 63 4 11 164 164 0 49 50 1 170 167 -3 12 59 58 -1 85 83 -2 319 320 1 13 76 76 0 276 279 3 49 52 3 14 98 98 0 278 280 2 169 174 5 15 47 48 1 299 304 5 379 375 -4 16 149 150 1 52 54 2 309 310 1 17 90 89 -1 102 105 3 259 262 3 18 106 105 -1 32 33 1 209 213 4 19 11 11 0 294 299 5 199 196 -3 20 92 93 1 87 90 3 379 385 6 Rata-rata 0.7 2.4 3.2
85
Lampiran 22. Hasil pengujian manipulator dari limit switch ke koordinat tujuan pembebanan 900 gNo
Input Aktual Simpangan Ketelitian
x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (%) y (%) z (%) 1 400 500 450 421 432 446 21 -68 -4 94.75 86.40 99.11 2 200 600 600 239 546 595 39 -54 -5 80.50 91.00 99.17 3 -300 500 500 -253 532 496 47 32 -4 84.33 93.60 99.20 4 -300 -200 750 -337 -241 735 -37 -41 -15 87.67 79.50 98.00 5 400 -200 850 340 -213 819 -60 -13 -31 85.00 93.50 96.35 6 250 300 470 235 234 466 -15 -66 -4 94.00 78.00 99.15 7 340 400 500 322 319 495 -18 -81 -5 94.71 79.75 99.00 8 430 360 650 411 302 641 -19 -58 -9 95.58 83.89 98.62 9 -350 380 480 -337 467 477 13 87 -3 96.29 77.11 99.38 10 -400 520 560 -364 578 554 36 58 -6 91.00 88.85 98.93 11 -500 470 620 -477 526 612 23 56 -8 95.40 88.09 98.71 12 -430 -120 670 -495 -71 658 -65 49 -12 84.88 59.17 98.21 13 -300 -150 720 -353 -140 705 -53 10 -15 82.33 93.33 97.92 14 200 -250 420 290 -246 419 90 4 -1 55.00 98.40 99.76 15 400 -340 530 333 -321 524 -67 19 -6 83.25 94.41 98.87 16 300 -370 680 241 -349 665 -59 21 -15 80.33 94.32 97.79 17 -350 -300 600 -435 -283 592 -85 17 -8 75.71 94.33 98.67 18 -310 -170 830 -393 -148 807 -83 22 -23 73.23 87.06 97.23 19 -600 80 550 -642 157 545 -42 77 -5 93.00 3.75 99.09 20 -550 -180 780 -594 -149 760 -44 31 -20 92.00 82.78 97.44 Rata-rata 48.8 43.2 9.95 85.95 82.36 98.53
86
Lampiran 22. Hasil pengujian manipulator dari limit switch ke koordinat tujuan pembebanan 900 g (lanjutan)No
Joint 1 Joint 2 Joint 3
input (°) aktual (°) simpangan (°) input (°) aktual (°) simpangan (°) input (mm) aktual (mm) simpangan (mm)
1 95 95 0 262 271 9 89 85 -4 2 116 116 0 265 273 8 239 234 -5 3 70 68 -2 85 94 9 139 135 -4 4 142 140 -2 49 60 11 389 374 -15 5 36 36 0 298 306 8 489 458 -31 6 117 117 0 306 314 8 109 105 -4 7 105 104 -1 285 295 10 139 134 -5 8 92 92 0 280 287 7 289 280 -9 9 76 76 0 73 84 11 119 116 -3 10 84 83 -1 97 104 7 199 193 -6 11 97 97 0 103 111 8 259 251 -8 12 133 131 -2 61 70 9 309 297 -12 13 135 134 -1 44 51 7 359 345 -14 14 28 28 0 297 306 9 59 58 -1 15 15 15 0 285 294 9 169 163 -6 16 8 8 0 293 301 8 319 304 -15 17 159 157 -2 63 73 10 239 231 -8 18 139 138 -1 47 58 11 469 446 -23 19 124 124 0 88 99 11 189 184 -5 20 147 147 0 82 89 7 419 399 -20 Rata-rata 0.6 8.85 9.9
87
Lampiran 23. Hasil pengujian manipulator dari limit switch ke koordinat tujuan dengan pembebanan 2200 gNo
Input Aktual Simpangan Ketelitian
x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (%) y (%) z (%) 1 400 300 400 341 228 393 -59 -72 -7 85.25 76.00 98.25 2 400 500 600 438 361 577 38 -139 -23 90.50 72.20 96.17 3 400 -350 600 281 -309 580 -119 41 -20 70.25 88.29 96.67 4 -230 -150 500 -193 -180 489 37 -30 -11 83.91 80.00 97.80 5 350 -250 450 283 -187 440 -67 63 -10 80.86 74.80 97.78 6 -330 -300 570 -259 -330 544 71 -30 -26 78.48 90.00 95.44 7 340 400 500 317 296 490 -23 -104 -10 93.24 74.00 98.00 8 430 360 650 393 217 625 -37 -143 -25 91.40 60.28 96.15 9 -350 380 480 -325 498 471 25 118 -9 92.86 68.95 98.13 10 -400 520 560 -358 621 543 42 101 -17 89.50 80.58 96.96 11 -500 470 620 -474 540 594 26 70 -26 94.80 85.11 95.81 12 -430 -120 670 -549 -47 642 -119 73 -28 72.33 39.17 95.82 13 -300 -150 720 -391 -138 662 -91 12 -58 69.67 92.00 91.94 14 200 -250 420 252 -280 415 52 -30 -5 74.00 88.00 98.81 15 400 -340 530 482 -348 515 82 -8 -15 79.50 97.65 97.17 16 300 -370 680 275 -334 650 -25 36 -30 91.67 90.27 95.59 17 -350 -300 600 -429 -278 580 -79 22 -20 77.43 92.67 96.67 18 -310 -170 630 -423 -144 605 -113 26 -25 63.55 84.71 96.03 19 -600 80 550 -639 106 536 -39 26 -14 93.50 67.50 97.45 20 -550 -180 780 -658 -119 735 -108 61 -45 80.36 66.11 94.23 Rata-rata 62.6 60.25 21.2 82.65 78.41 96.54
88
Lampiran 24. Hasil pengujian manipulatordari limit switch ke koordinat tujuan dengan pembebanan 2200 g (lanjutan)No
Joint 1 Joint 2 Joint 3
input (°) aktual (°) simpangan (°) input (°) aktual (°) simpangan (°) input (mm) aktual (mm) simpangan (mm)
1 95 96 1 288 300 12 39 32 -7 2 95 94 -1 263 275 12 239 216 -23 3 14 14 0 283 293 10 239 219 -20 4 132 132 0 37 48 11 139 128 -11 5 29 29 0 299 316 17 89 79 -10 6 158 158 0 62 74 12 209 190 -19 7 105 105 0 285 300 15 139 129 -10 8 92 91 -1 280 297 17 289 264 -25 9 76 76 0 73 89 16 119 110 -9 10 84 84 0 97 110 13 199 182 -17 11 97 97 0 103 115 12 259 233 -26 12 133 132 -1 61 77 16 309 281 -28 13 135 134 -1 44 55 11 359 321 -38 14 22 22 0 316 328 12 59 54 -5 15 15 13 -2 285 297 12 169 154 -15 16 8 8 0 293 303 10 319 289 -30 17 159 159 0 63 75 12 239 219 -20 18 138 136 -2 47 60 13 269 244 -25 19 124 124 0 88 99 11 189 175 -14 20 147 147 0 82 97 15 419 374 -45 Rata-rata 0.47 12.95 21.2
89
Lampiran 24. Hasil pengujian manipulator point to point tanpa bebanNo
input aktual simpangan Ketelitian
x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x(%) y(%) z(%) 1 650 -150 450 679 -114 443 29 36 -7 95.54 76.00 98.44 450 550 650 469 572 646 19 22 -4 95.78 96.00 99.38 -400 500 500 -327 543 501 73 43 1 81.75 91.40 99.80 -600 -100 400 -629 -41 404 29 59 4 95.17 41.00 99.00 2 -400 -300 700 -424 -285 699 24 15 -1 94.00 95.00 99.86 -500 300 900 -479 338 896 21 38 -4 95.80 87.33 99.56 500 300 450 528 269 450 28 31 0 94.40 89.67 100.00 350 -300 550 321 -351 549 29 51 -1 91.71 83.00 99.82 3 700 50 370 719 65 366 19 15 -4 97.29 70.00 98.92 300 520 500 326 541 498 26 21 -2 91.33 95.96 99.60 -250 460 520 -239 396 515 11 64 -5 95.60 86.09 99.04 -250 -360 640 -193 -230 639 57 130 -1 77.20 63.89 99.84 4 300 600 400 292 619 401 -8 19 1 97.33 96.83 99.75 -300 600 400 -301 531 401 -1 -69 1 99.67 88.50 99.75 400 -250 600 447 -283 604 47 -33 4 88.25 86.80 99.33 -600 -200 550 -529 -201 549 71 -1 -1 88.17 99.50 99.82 5 430 -110 740 409 -137 741 -21 -27 1 95.12 75.45 99.86 -310 -230 670 -308 -239 668 2 -9 -2 99.35 96.09 99.70 600 200 400 599 125 397 -1 -75 -3 99.83 62.50 99.25 -440 520 620 -375 590 615 65 70 -5 85.23 86.54 99.19
90
Lampiran 24. Hasil pengujian manipulator point to point tanpa beban (lanjutan)No
input aktual simpangan Ketelitian
x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x(%) y(%) z(%) 6 400 -340 530 382 -349 530 -18 -9 0 95.50 97.35 100.00 300 -370 680 257 -373 679 -43 -3 -1 85.67 99.19 99.85 -350 -300 600 -400 -288 597 -50 12 -3 85.71 96.00 99.50 -310 -170 830 -344 -162 824 -34 8 -6 89.03 95.29 99.28 7 200 600 600 209 611 591 9 11 -9 95.50 98.17 98.50 -300 500 500 -317 462 500 -17 -38 0 94.33 92.40 100.00 -300 -200 750 -278 -192 747 22 8 -3 92.67 96.00 99.60 400 -200 850 490 -215 848 90 -15 -2 77.50 92.50 99.76 8 -600 80 550 -615 104 546 -15 24 -4 97.50 70.00 99.27 -550 -180 780 -565 -167 778 -15 13 -2 97.27 92.78 99.74 310 -357 560 283 -369 558 -27 -12 -2 91.29 96.64 99.64 -470 380 740 -438 401 739 32 21 -1 93.19 94.47 99.86 9 -400 300 420 -387 278 417 13 -22 -3 96.75 92.67 99.29 -440 520 620 -441 529 620 -1 9 0 99.77 98.27 100.00 -350 380 480 -347 367 479 3 -13 -1 99.14 96.58 99.79 -240 -30 570 -157 -39 570 83 -9 0 65.42 70.00 100.00 10 350 -250 450 362 -273 450 12 -23 0 96.57 90.80 100.00 550 250 850 549 251 843 -1 1 -7 99.82 99.60 99.18 430 450 630 441 490 621 11 40 -9 97.44 91.11 98.57 -380 430 430 -358 379 421 22 -51 -9 94.21 88.14 97.91
91
Lampiran 24. Hasil pengujian manipulator point to point tanpa beban (lanjutan)No
joint 1 joint 2 joint 3
input (°) aktual (°) simpangan (°) input (°) aktual (°) simpangan (°) input (mm) aktual (mm) simpangan (mm)
1 28 29 1 257 252 -5 89 82 -7 86 83 -3 248 240 -8 289 285 -4 84 75 -9 96 94 -2 139 140 1 141 138 -3 91 93 2 39 43 4 2 158 157 -1 70 72 2 339 338 -1 98 95 -3 84 86 2 539 535 -4 81 76 -5 273 272 -1 89 89 0 21 13 -8 295 292 -3 189 188 -1 3 40 41 1 248 247 -1 9 5 -4 108 105 -3 270 265 -5 139 137 -2 62 59 -3 75 66 -9 159 154 -5 171 165 -6 61 47 -14 279 278 -1 4 104 104 0 258 254 -4 39 40 1 75 73 -2 101 90 -11 39 40 1 28 23 -5 294 285 -9 239 243 4 153 148 -5 93 80 -13 189 188 -1 5 47 46 -1 299 302 3 379 380 1 149 148 -1 52 52 0 309 307 -2 63 59 -4 265 270 5 39 36 -3 90 87 -3 102 111 9 259 254 -5
92
Lampiran 24. Hasil pengujian manipulator point to point tanpa beban (lanjutan)No
joint 1 joint 2 joint 3
input (°) aktual (°) simpangan (°) input (°) aktual (°) simpangan (°) input (mm) aktual (mm) simpangan (mm)
6 15 15 0 285 287 2 169 169 0 8 7 -1 293 298 5 319 318 -1 159 158 -1 63 70 7 239 236 -3 139 138 -1 47 52 5 469 463 -6 7 116 115 -1 266 264 -2 239 230 -9 70 72 2 84 80 -4 139 139 0 144 145 1 48 45 -3 389 386 -3 35 34 -1 298 298 0 489 487 -2 8 124 124 0 88 92 4 189 185 -4 147 146 -1 82 83 1 419 417 -2 11 8 -3 294 296 2 199 197 -2 92 88 -4 87 86 -1 379 378 -1 9 85 85 0 70 68 -2 59 56 -3 90 91 1 102 104 2 259 259 0 76 75 -1 73 71 -2 119 118 -1 106 104 -2 32 27 -5 209 209 0 10 28 27 -1 300 298 -2 89 89 0 72 71 -1 273 270 -3 489 482 -7 92 90 -2 268 261 -7 269 260 -9 80 77 -3 83 74 -9 69 60 -9
Rata-rata
2.35 4.4 2.8593
Lampiran 25. Hasil pengujian menipulator point to point pembebanan 900 gNo
input aktual simpangan Ketelitian
x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x(%) y(%) z(%)
1
400
250
450
373
118
443
-27
-132
-7
93.25
47.20
98.44
-350
400
550
-332
370
537
18
-30
-13
94.86
92.50
97.64
350
-400
500
258
-383
487
-92
17
-13
73.71
95.75
97.40
-350
-400
470
-317
-478
460
33
-78
-10
90.57
80.50
97.87
2
350
400
870
320
340
837
-30
-60
-33
91.43
85.00
96.21
-400
400
670
-360
420
630
40
20
-40
90.00
95.00
94.03
-400
400
600
-452
320
557
-52
-80
-43
87.00
80.00
92.83
400
-200
700
336
-135
653
-64
65
-47
84.00
67.50
93.29
3
700
50
370
663
41
370
-37
-9
0
94.71
82.00
100.00
300
520
500
315
419
496
15
-101
-4
95.00
80.58
99.20
-250
460
520
-251
495
517
-1
35
-3
99.60
92.39
99.42
-250
-360
640
-229
-351
634
21
9
-6
91.60
97.50
99.06
4
200
600
600
234
541
596
34
-59
-4
83.00
90.17
99.33
-300
500
500
-286
493
493
14
-7
-7
95.33
98.60
98.60
-300
-200
750
-236
-174
734
64
26
-16
78.67
87.00
97.87
400
-200
850
389
-226
832
-11
-26
-18
97.25
87.00
97.88
5
350
-250
450
237
-252
447
-113
-2
-3
67.71
99.20
99.33
550
250
850
542
240
825
-8
-10
-25
98.55
96.00
97.06
430
450
630
400
523
596
-30
73
-34
93.02
83.78
94.60
-380
430
430
-378
239
389
2
-191
-41
99.47
55.58
90.47
94
Lampiran 25. Hasil pengujian menipulator point to point pembebanan 900 g (lanjutan)No
input aktual simpangan Ketelitian
x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x(%) y(%) z(%)
6
650
-150
450
575
-203
449
-75
-53
-1
88.46
64.67
99.78
450
550
650
470
526
639
20
-24
-11
95.56
95.64
98.31
-400
500
500
-396
463
485
4
-37
-15
99.00
92.60
97.00
-600
-100
400
-485
-151
382
115
-51
-18
80.83
49.00
95.50
7
300 600 400342
510
399
42
-90
-1
86.00
85.00
99.75
-300 600 400
-300
564
399
0
-36
-1
100.00
94.00
99.75
400 -250 600
323
-262
588
-77
-12
-12
80.75
95.20
98.00
-600 -200 550
-583
-190
536
17
10
-14
97.17
95.00
97.45
8
-600
80
550
-627
109
544
-27
29
-6
95.50
63.75
98.91
-550
-180
780
-564
-150
763
-14
30
-17
97.45
83.33
97.82
310 -357 560
202
-324
532
-108
33
-28
65.16
90.76
95.00
-470 380 740
-442
443
705
28
63
-35
94.04
83.42
95.27
9
-400
-300
700
-484
-266
690
-84
34
-10
79.00
88.67
98.57
-500
300
900
-494
452
878
6
152
-22
98.80
49.33
97.56
500
300
450
418
106
400
-82
-194
-50
83.60
35.33
88.89
350
-300
550
205
-214
496
-145
86
-54
58.57
71.33
90.18
10
-400 300 420-411
331
419
-11
31
-1
97.25
89.67
99.76
-440 520 620
-386
624
608
54
104
-12
87.73
80.00
98.06
-350
380
480
-345
416
459
5
36
-21
98.57
90.53
95.63
-240 -30 570
-185
-42
547
55
-12
-23
77.08
60.00
95.96
95
Lampiran 25. Hasil pengujian menipulator point to point pembebanan 900 g (lanjutan)No
joint 1 joint 2 joint 3
input (°) aktual (°) simpangan (°) input (°) aktual (°) simpangan (°) input (mm) aktual (mm) simpangan (mm)
1
93
92
-1
293
301
8
89
82
-7
75
73
-2
56
76
20
189
176
-13
6
2
-4
283
288
5
139
126
-13
173
170
-3
76
74
-2
109
99
-10
2
103
103
0
284
292
8
509
476
-33
83
82
-1
82
81
-1
309
269
-40
172
169
-3
82
81
-1
239
196
-43
36
34
-2
297
305
8
339
292
-47
3
40
40
0
248
256
8
9
9
0
108
109
1
270
285
15
139
135
-4
62
64
2
75
80
5
159
156
-3
171
173
2
61
59
-2
279
273
-6
4
116
116
0
266
276
10
239
235
-4
70
69
-1
84
83
-1
139
132
-7
144
142
-2
48
39
-9
389
373
-16
35
32
-3
298
298
0
489
471
-18
5
28
28
0
300
312
12
89
86
-3
72
73
1
273
275
2
489
464
-25
92
95
3
268
261
-7
269
235
-34
80
83
3
83
64
-19
69
28
-41
96
Lampiran 25. Hasil pengujian menipulator point to point pembebanan 900 g (lanjutan)No
joint 1 joint 2 joint 3
input (°) aktual (°) simpangan (°) input (°) aktual (°) simpangan (°) input (mm) aktual (mm) simpangan (mm)
6
28
28
0
257
267
10
89
88
-1
86
85
-1
248
250
2
289
278
-11
84
83
-1
96
90
-6
139
124
-15
141
139
-2
91
74
-17
39
21
-18
7
104
103
-1
258
266
8
39
38
-1
75
74
-1
101
99
-2
39
38
-1
28
26
-2
294
303
9
239
227
-12
153
151
-2
93
90
-3
189
175
-14
8
124
122
-2
88
96
8
189
183
-6
147
145
-2
82
83
1
419
402
-17
11
10
-1
294
308
14
199
171
-28
92
89
-3
87
91
4
379
344
-35
9
158
156
-2
70
78
8
339
329
-10
98
96
-2
84
99
15
539
517
-22
81
80
-1
273
299
26
89
39
-50
21
21
0
295
328
33
189
135
-54
10
85
85
0
70
77
7
59
58
-1
90
89
-1
102
118
16
259
247
-12
76
75
-1
73
79
6
119
98
-21
106
104
-2
32
25
-7
209
186
-23
Rata-rata1.52
8.6
17.97
97
Lampiran 26. Hasil pengujian manipulator point to point pembebanan 2200 gNo
input aktual simpangan Ketelitian
x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x(%) y(%) z(%) 1 -230 -150 500 -316 -148 491 -86 2 -9 62.61 98.67 98.20 -230 350 550 -167 553 581 63 203 31 72.61 42.00 94.36 350 350 650 179 45 419 -171 -305 -231 51.14 12.86 64.46 340 400 500 288 163 366 -52 -237 -134 84.71 40.75 73.20 2 350 -250 450 223 -233 440 -127 17 -10 63.71 93.20 97.78 550 250 850 582 331 798 32 81 -52 94.18 67.60 93.88 430 450 630 432 543 562 2 93 -68 99.53 79.33 89.21 -380 430 430 -359 344 349 21 -86 -81 94.47 80.00 81.16 3 -330 -300 570 -432 -291 552 -102 9 -18 69.09 97.00 96.84 -530 300 770 -476 459 736 54 159 -34 89.81 47.00 95.58 400 -200 850 95 -130 810 -305 70 -40 23.75 65.00 95.29 200 -250 420 -80 -164 359 -280 86 -61 -40.00 65.60 85.48 4 650 -150 450 543 -219 444 -107 -69 -6 83.54 54.00 98.67 450 550 650 482 479 628 32 -71 -22 92.89 87.09 96.62 -400 500 500 -390 455 466 10 -45 -34 97.50 91.00 93.20 -600 -100 400 -538 -121 359 62 -21 -41 89.67 79.00 89.75 5 400 250 450 332 101 441 -68 -149 -9 83.00 40.40 98.00 -350 400 550 -317 207 385 33 -193 -165 90.57 51.75 70.00 350 -400 500 189 -362 352 -161 38 -148 54.00 90.50 70.40 -350 -400 470 -402 -394 556 -52 6 86 85.14 98.50 81.70
98
Lampiran 26. Hasil pengujian manipulator point to point pembebanan 2200 g (lanjutan)No
input aktual simpangan Ketelitian
x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x (mm) y (mm) z (mm) x(%) y(%) z(%) 6 -400 -300 700 -536 -267 666 -136 33 -34 66.00 89.00 95.14 -500 300 900 -497 406 853 3 106 -47 99.40 64.67 94.78 500 300 450 330 151 374 -170 -149 -76 66.00 50.33 83.11 350 -300 550 82 -139 463 -268 161 -87 23.43 46.33 84.18 7 400 -340 530 234 -318 518 -166 22 -12 58.50 93.53 97.74 300 -370 680 108 -278 658 -192 92 -22 36.00 75.14 96.76 -350 -300 600 -414 -286 571 -64 14 -29 81.71 95.33 95.17 -310 -170 830 -283 -154 778 27 16 -52 91.29 90.59 93.73 8 -400 300 420 -484 375 417 -84 75 -3 79.00 75.00 99.29 -440 520 620 -275 770 595 165 250 -25 62.50 51.92 95.97 -350 380 480 -294 585 444 56 205 -36 84.00 46.05 92.50 -240 -30 570 -298 -10 523 -58 20 -47 75.83 33.33 91.75 9 -350 -300 600 -499 -264 580 -149 36 -20 57.43 88.00 96.67 -310 -170 630 -358 -149 608 -48 21 -22 84.52 87.65 96.51 -600 80 550 -651 282 524 -51 202 -26 91.50 -152.50 95.27 -550 -180 780 -683 -110 735 -133 70 -45 75.82 61.11 94.23 10 200 600 600 264 428 572 64 -172 -28 68.00 71.33 95.33 -300 500 500 -319 517 463 -19 17 -37 93.67 96.60 92.60 -300 -200 750 -261 -187 684 39 13 -66 87.00 93.50 91.20 400 -200 850 358 -207 778 -42 -7 -72 89.50 96.50 91.53
99
Lampiran 26. Hasil pengujian manipulator point to point pembebanan 2200 g (lanjutan)No
joint 1 joint 2 joint 3
input (°) aktual (°) simpangan (°) input (°) aktual (°) simpangan (°) input (mm) aktual (mm) simpangan (mm)
1 132 132 0 37 48 11 139 130 -9 57 56 -1 57 85 28 189 220 31 103 101 -2 290 336 46 289 58 -231 105 103 -2 285 315 30 139 5 -134 2 29 29 0 299 316 17 89 79 -10 72 71 -1 271 260 -11 489 437 -52 92 90 -2 267 254 -13 269 201 -68 80 77 -3 84 72 -12 69 -12 -81 3 158 158 0 62 74 12 209 191 -18 102 98 -4 89 120 31 409 375 -34 36 33 -3 298 339 41 489 449 -40 28 25 -3 297 336 39 59 -2 -61 4 28 28 0 257 274 17 89 83 -6 86 85 -1 248 257 9 289 267 -22 84 82 -2 96 88 -8 139 105 -34 141 139 -2 91 81 -10 39 -2 -41 5 93 91 -2 293 312 19 89 80 -9 75 73 -2 56 58 2 189 24 -165 6 5 -1 283 303 20 139 -9 -148 173 172 -1 76 83 7 109 195 86
100
Lampiran 26. Hasil pengujian manipulator point to point pembebanan 2200 g (lanjutan)No
joint 1 joint 2 joint 3
input (°) aktual (°) simpangan (°) input (°) aktual (°) simpangan (°) input (mm) aktual (mm) simpangan (mm)
6 158 158 0 70 87 17 339 305 -34 98 99 1 84 116 32 539 492 -47 81 84 3 273 314 41 89 13 -76 21 24 3 295 340 45 189 102 -87 7 15 15 0 285 305 20 169 157 -12 8 7 -1 293 320 27 319 297 -22 159 157 -2 63 71 8 239 210 -29 139 137 -2 47 43 -4 469 417 -52 8 85 85 0 70 92 22 59 56 -3 90 89 -1 102 140 38 259 234 -25 76 74 -2 73 99 26 119 83 -36 106 104 -2 32 40 8 209 162 -47 9 159 156 -3 63 81 18 239 219 -20 138 135 -3 47 53 6 269 247 -22 124 120 -4 88 110 22 189 163 -26 147 142 -5 82 103 21 419 374 -45 10 116 116 0 266 289 23 239 211 -28 70 71 1 84 86 2 139 102 -37 144 143 -1 48 43 -5 389 323 -66 35 34 -1 298 304 6 489 417 -72
Rata-rata
1.67 19.35 51.65101
Lampiran 27. Gambar konstruksi102
Lampiran 27. Gambar konstruksi (lanjutan)103
Lampiran 28. Program pengendali motor joint 1 arah kanan104
Lampiran 29. Program pengendali motor joint 1 arah kiri105
Lampiran 30. Program pengendali motor joint 2 arah kanan106
Lampiran 31. Program pengendali motor joint 2 arah kiri107
Lampiran 32. Program pengendali motor joint 3 logika 1 arah atas108
Lampiran 33. Program pengnedali motor joint 3 logika 1 arah bawah109
Lampiran 34. Program pengendali motor joint 3 pulsa encoder arah atas110
Lampiran 35. Program pengendali motor joint 3 pulsa encoder arah bawah111
Lampiran 36. Program pengendali motor joint 3 pewaktu arah atas112
Lampiran 37. Program pengendali motor joint 3 pewaktu arah bawah113
Lampiran 38. Program kalibrasi koordinat( x,y) menjadi nilai sudut putar114
Lampiran 38. Program kalibrasi koordinat xy menjadi nilai sudut putar (lanjutan)115
Lampiran 39. Program pengendali manipulator keseluruhan (front panel)116
Lampiran 39. Program pengendali manipulator keseluruhan (blok diagram)117
Lampiran 40. Spesifikasi NI-DAQ 6009Product Name USB-6009
Product Family Multifunction Data Acquisition
Form Factor USB
Part Number 779026-01
Operating System/Target Linux , Mac OS , Pocket PC , Windows
DAQ Product Family B Series
Measurement Type Voltage
RoHS Compliant Yes
Minimum Voltage Range 0 V , 5 V
Minimum Voltage Range Accuracy 7 mV
Update Rate 150 S/s
Current Drive Single 5 mA
Current Drive All 10 mA
Minimum Input Pulse Width 100 ns
Pulse Generation No Resolution 32 bits Timebase Stability 50 ppm Logic Levels TTL Physical Specifications Length 8.51 cm Width 8.18 cm Height 2.31 cm
I/O Connector Screw terminals
Timing/Triggering/Synchronization
Triggering Digital
Synchronization Bus (RTSI) No
Digital I/O Bidirectional Channels 12 Input-Only Channels 0 Output-Only Channels 0 Number of Channels 0 , 12 Timing Software Logic Levels TTL
Input Current Flow Sinking , Sourcing
Output Current Flow Sinking , Sourcing
Programmable Input Filters No
Supports Programmable Power-Up States? No
Current Drive Single 8.5 mA
Current Drive All 102 mA
Watchdog Timer No
Supports Handshaking I/O? No
Supports Pattern I/O? No
Maximum Input Range 0 V , 5 V
Maximum Output Range 0 V , 5 V
Counter/Timers Counters 1 Buffered Operations No Debouncing/Glitch Removal No GPS Synchronization No Maximum Range 0 V , 5 V
118
Lampiran 40. Spesifikasi NI-DAQ 6009 (lanjutan)Analog Input Channels 4 , 8 Single-Ended Channels 8 Differential Channels 4 Resolution 14 bits Sample Rate 48 kS/s
Throughput (All Channels) 48 kS/s
Max Voltage 10 V
Maximum Voltage Range -10 V , 10 V
Maximum Voltage Range Accuracy 138 mV
Minimum Voltage Range -1 V , 1 V
Minimum Voltage Range Accuracy 37.5 mV
Number of Ranges 8 Simultaneous Sampling No On-Board Memory 512 B Analog Output Channels 2 Resolution 12 bits Max Voltage 5 V
Maximum Voltage Range 0 V , 5 V
Maximum Voltage Range Accuracy 7 mV Counter/Timers Counters 1 Buffered Operations No Debouncing/Glitch Removal No GPS Synchronization No Maximum Range 0 V , 5 V