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DESIGNING TRAJECTORY OF STEWART PLATFORM SIMULATOR TO SIMULATE THE MOTION OF TANK SIMULATOR

Master Theses from JBPTITBPP / 2011-02-10 11:16:57
By : IZZATUL UMMAH (NIM: 23207127), S2 - Electrical Engineering
Created : 2009, with 1 files

Keyword : Stewart Platform 6-6 motor, trajectory planning, inverse kinematic
Subject : Generalities-Special computer methods-Computer graphics
Subject Heading : Computer animation
Call Number (DDC) : T 006.696 UMM
Url : http://otomasi.lib.itb.ac.id/index.php?menu=library&act=detail&libraryID= 93610
Document Source : Tesis (Magister Teknik Elektro) ITB

ABSTRAK:

Pada tesis ini dirancang trajectory pada simulator Stewart Platform 6-6 motor untuk menirukan gerakan simulator tank. Trajectory planner menerima input berupa posisi dan orientasi tank, yang dipetakan menjadi posisi dan orientasi platform sebagai outputnya. Proses yang dilakukan dalam pemetaan tersebut yaitu penyesuaian/kalibrasi berdasarkan constraint batasan-batasan geometris Stewart Platform serta agar dapat memberikan efek user experience bagi pengguna. Selanjutnya dilakukan inverse kinematic untuk menghitung sudut-sudut motor berdasarkan posisi dan orientasi platform tersebut dengan menggunakan metoda numerik Newton-Raphson.

Description Alternative :

ABSTRACT:

In this thesis, a trajectory for Stewart Platform simulator (type 6-6, actuated by motor) is developed to simulate the motion of tank simulator. The trajectory planner takes tank's position and orientation as input, and then maps it into platform's position and orientation as output. Things that must be considered in this trajectory planning are calibration/adjustment of the Stewart Platform's geometry limitation constraints and the user experience. Next, by inverse kinematic and using numerical method Newton-Raphson, the desired angles of servo motor is computed based on platform's position and orientation.

Copyrights : Copyright Â(c) 2001 by ITB Central Library. Verbatim copying and distribution of this entire article is permitted by author in any medium, provided this notice is preserved.

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