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    Perhitungan Matriks D-H Lengan Robot

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    Subekti Mokhamad

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    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd

    Perhitungan Matriks D-H Lengan Robot

    Uploaded by

    Subekti Mokhamad
    4 views5 pages

    Copyright

    © © All Rights Reserved

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    XLSX, PDF, TXT or read online from Scribd

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    Copyright:

    © All Rights Reserved
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    Download as xlsx, pdf, or txt
    4 views5 pages

    Perhitungan Matriks D-H Lengan Robot

    Uploaded by

    Subekti Mokhamad

    Copyright:

    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
    Download as xlsx, pdf, or txt
    of 5

    joint ai ἀi di Ɵi Matrix Transformasi Ho

    input 1.0 15.0 90.0 20.0 -40.0


    2.0 105.0 0.0 0.0 -40.0 1T2 = 0.59
    3.0 95.0 0.0 0.0 -60.0 -0.49
    4.0 85.0 90.0 0.0 -90.0 -0.64
    5.0 65.0 0.0 0.0 0.0 0.00

    result 2T3 = -0.13


    A1 0.77 0.00 -0.64 11.49 0.11
    -0.64 0.00 -0.77 -9.64 -0.98
    0.00 1.00 0.00 20.00 0.00
    0.00 0.00 0.00 1.00
    3T4 = -0.75
    A2 0.77 0.64 0.00 80.43 0.63
    -0.64 0.77 0.00 -67.49 0.17
    0.00 0.00 1.00 0.00 0.00
    0.00 0.00 0.00 1.00
    T5 = -0.75
    A3 0.50 0.87 0.00 47.50 0.63
    -0.87 0.50 0.00 -82.27 0.17
    0.00 0.00 1.00 0.00 0.00
    0.00 0.00 0.00 1.00

    A4 0.00 0.00 -1.00 0.00


    -1.00 0.00 0.00 -85.00
    0.00 1.00 0.00 0.00
    0.00 0.00 0.00 1.00

    A5 1.00 0.00 0.00 65.00


    0.00 1.00 0.00 0.00
    0.00 0.00 1.00 0.00
    0.00 0.00 0.00 1.00
    Matrix Transformasi Homogen

    0.49 -0.64 73.11


    -0.41 -0.77 -61.34
    0.77 0.00 -47.49
    0.00 0.00 1.00

    0.75 -0.64 60.47


    -0.63 -0.77 -50.74
    -0.17 0.00 -141.05
    0.00 0.00 1.00

    -0.64 0.13 -3.65


    -0.77 -0.11 3.07
    0.00 0.98 -126.29
    0.00 0.00 1.00

    -0.64 0.13 -52.69


    -0.77 -0.11 44.21
    0.00 0.98 -115.00
    0.00 0.00 1.00
    first input
    A1 0.77 0.00 -0.64 11.49 0.77 0.00 -0.64
    -0.64 0.00 -0.77 -9.64 -0.64 0.00 -0.77
    0.00 1.00 0.00 20.00 0.00 1.00 0.00
    0.00 0.00 0.00 1.00 0.00 0.00 0.00
    second input
    A2 0.77 0.64 0.00 80.43 0.77 0.64 0.00
    -0.64 0.77 0.00 -67.49 -0.64 0.77 0.00
    0.00 0.00 1.00 0.00 0.00 0.00 1.00
    0.00 0.00 0.00 1.00 0.00 0.00 0.00

    A3 0.50 0.87 0.00 47.50


    -0.87 0.50 0.00 -82.27
    0.00 0.00 1.00 0.00
    0.00 0.00 0.00 1.00

    A4 0.00 0.00 -1.00 0.00


    -1.00 0.00 0.00 -85.00
    0.00 1.00 0.00 0.00
    0.00 0.00 0.00 1.00

    A5 1.00 0.00 0.00 65.00


    0.00 1.00 0.00 0.00
    0.00 0.00 1.00 0.00
    0.00 0.00 0.00 1.00
    11.49 0.59 0.49
    -9.64 result (baris x kolom) -0.49 -0.41
    20.00 0.59 0.49 -0.64 73.11 -0.64 0.77
    1.00 -0.49 -0.41 -0.77 -61.34 0.00 0.00
    -0.64 0.77 0.00 -47.49
    80.43 0.00 0.00 0.00 1.00 -0.13 0.75
    -67.49 0.11 -0.63
    0.00 -0.98 -0.17
    1.00 0.00 0.00

    -0.75 -0.64
    0.63 -0.77
    0.17 0.00
    0.00 0.00

    -0.75 -0.64
    0.63 -0.77
    0.17 0.00
    0.00 0.00
    -0.64 73.11
    -0.77 -61.34
    0.00 -47.49
    0.00 1.00

    -0.64 60.47
    -0.77 -50.74
    0.00 -141.05
    0.00 1.00

    0.13 -3.65
    -0.11 3.07
    0.98 -126.29
    0.00 1.00

    0.13 -52.69
    -0.11 44.21
    0.98 -115.00
    0.00 1.00

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