ANALISIS KINEMATIKA BALIK PADA KENDALI ROBOT LENGAN DENTAL LIGHT BERBASIS PENGOLAHAN CITRA DIGITAL BERDASARKAN ISYARAT TANGAN
The use of technological advances in the field of robot manipulator engineering and image processing was applied in this study. Robotic arm with six DOF or joints is used for helping dental procedures by automatizing the movement of the lamp used which is known as dental light based on hand gesture...
| Main Authors: | , |
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| Format: | Thesis |
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[Yogyakarta] : Universitas Gadjah Mada
2013
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| _version_ | 1797033839108816896 |
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| author | , SAPRINDO HARUN P , Dr. Agus Harjoko, M.Sc. |
| author_facet | , SAPRINDO HARUN P , Dr. Agus Harjoko, M.Sc. |
| author_sort | , SAPRINDO HARUN P |
| collection | UGM |
| description | The use of technological advances in the field of robot manipulator
engineering and image processing was applied in this study. Robotic arm with six
DOF or joints is used for helping dental procedures by automatizing the
movement of the lamp used which is known as dental light based on hand gesture
of a dentist as user. The introduction of up-down and right-left hand gesture uses
image processing (with the help of OpenCV library) for later use as an instruction
to control the movement of the robotic arm. The instruction is processed as
cartesian coordinate which used to find the angle of the manipulator joints so that
it can move and place its end-effector at desired position. The process of finding
the angle with Cartesian coordinate input uses inverse kinematics algorithm with
two modeling approaches, which are algebraic analysis method and geometric
method. For the implementation, algebraic analysis method is chosen for its
flexibility. The use of this method begins by determining Denavit-Hartenberg
notation from the manipulator followed by searching of homogenous
transformation matrix of each joint. For easier control, one focus pedal sub system
was added to control the movement of the last two joints of the end-effector.
The result of this study is integration of hand gestures recognition sub
system, focus pedal and robotic arm control. System testing was done by testing
the performance of inverse kinematics algorithm. The difference of those two
methods is only which shows the accuracy of the algorithm. Algorithm
testing by hardware shows the good performance too with the difference between
axis input value and axis testing value was in -1 to 2 mm range. The time needed
for one execution of inverse kinematics algorithm was in 207-208 ms range and
the execution of focus pedal instruction was in 36-38 ms range. Communication
of instruction form focus pedal sub system ran well in the range of 1 metre to 3.5
metre and all the variations of hand gesture as the main instruction input were
read successfully and executed by robotic arm control sub system. |
| first_indexed | 2024-03-13T23:01:15Z |
| format | Thesis |
| id | oai:generic.eprints.org:122788 |
| institution | Universiti Gadjah Mada |
| last_indexed | 2024-03-13T23:01:15Z |
| publishDate | 2013 |
| publisher | [Yogyakarta] : Universitas Gadjah Mada |
| record_format | dspace |
| spelling | oai:generic.eprints.org:1227882016-03-04T08:43:03Z https://repository.ugm.ac.id/122788/ ANALISIS KINEMATIKA BALIK PADA KENDALI ROBOT LENGAN DENTAL LIGHT BERBASIS PENGOLAHAN CITRA DIGITAL BERDASARKAN ISYARAT TANGAN , SAPRINDO HARUN P , Dr. Agus Harjoko, M.Sc. ETD The use of technological advances in the field of robot manipulator engineering and image processing was applied in this study. Robotic arm with six DOF or joints is used for helping dental procedures by automatizing the movement of the lamp used which is known as dental light based on hand gesture of a dentist as user. The introduction of up-down and right-left hand gesture uses image processing (with the help of OpenCV library) for later use as an instruction to control the movement of the robotic arm. The instruction is processed as cartesian coordinate which used to find the angle of the manipulator joints so that it can move and place its end-effector at desired position. The process of finding the angle with Cartesian coordinate input uses inverse kinematics algorithm with two modeling approaches, which are algebraic analysis method and geometric method. For the implementation, algebraic analysis method is chosen for its flexibility. The use of this method begins by determining Denavit-Hartenberg notation from the manipulator followed by searching of homogenous transformation matrix of each joint. For easier control, one focus pedal sub system was added to control the movement of the last two joints of the end-effector. The result of this study is integration of hand gestures recognition sub system, focus pedal and robotic arm control. System testing was done by testing the performance of inverse kinematics algorithm. The difference of those two methods is only which shows the accuracy of the algorithm. Algorithm testing by hardware shows the good performance too with the difference between axis input value and axis testing value was in -1 to 2 mm range. The time needed for one execution of inverse kinematics algorithm was in 207-208 ms range and the execution of focus pedal instruction was in 36-38 ms range. Communication of instruction form focus pedal sub system ran well in the range of 1 metre to 3.5 metre and all the variations of hand gesture as the main instruction input were read successfully and executed by robotic arm control sub system. [Yogyakarta] : Universitas Gadjah Mada 2013 Thesis NonPeerReviewed , SAPRINDO HARUN P and , Dr. Agus Harjoko, M.Sc. (2013) ANALISIS KINEMATIKA BALIK PADA KENDALI ROBOT LENGAN DENTAL LIGHT BERBASIS PENGOLAHAN CITRA DIGITAL BERDASARKAN ISYARAT TANGAN. UNSPECIFIED thesis, UNSPECIFIED. http://etd.ugm.ac.id/index.php?mod=penelitian_detail&sub=PenelitianDetail&act=view&typ=html&buku_id=62894 |
| spellingShingle | ETD , SAPRINDO HARUN P , Dr. Agus Harjoko, M.Sc. ANALISIS KINEMATIKA BALIK PADA KENDALI ROBOT LENGAN DENTAL LIGHT BERBASIS PENGOLAHAN CITRA DIGITAL BERDASARKAN ISYARAT TANGAN |
| title | ANALISIS KINEMATIKA BALIK PADA KENDALI ROBOT LENGAN
DENTAL LIGHT BERBASIS PENGOLAHAN CITRA DIGITAL
BERDASARKAN ISYARAT TANGAN |
| title_full | ANALISIS KINEMATIKA BALIK PADA KENDALI ROBOT LENGAN
DENTAL LIGHT BERBASIS PENGOLAHAN CITRA DIGITAL
BERDASARKAN ISYARAT TANGAN |
| title_fullStr | ANALISIS KINEMATIKA BALIK PADA KENDALI ROBOT LENGAN
DENTAL LIGHT BERBASIS PENGOLAHAN CITRA DIGITAL
BERDASARKAN ISYARAT TANGAN |
| title_full_unstemmed | ANALISIS KINEMATIKA BALIK PADA KENDALI ROBOT LENGAN
DENTAL LIGHT BERBASIS PENGOLAHAN CITRA DIGITAL
BERDASARKAN ISYARAT TANGAN |
| title_short | ANALISIS KINEMATIKA BALIK PADA KENDALI ROBOT LENGAN
DENTAL LIGHT BERBASIS PENGOLAHAN CITRA DIGITAL
BERDASARKAN ISYARAT TANGAN |
| title_sort | analisis kinematika balik pada kendali robot lengan dental light berbasis pengolahan citra digital berdasarkan isyarat tangan |
| topic | ETD |
| work_keys_str_mv | AT saprindoharunp analisiskinematikabalikpadakendalirobotlengandentallightberbasispengolahancitradigitalberdasarkanisyarattangan AT dragusharjokomsc analisiskinematikabalikpadakendalirobotlengandentallightberbasispengolahancitradigitalberdasarkanisyarattangan |