Solution And Visualization 3D Plane Inverse Kinematics Method


  • Wanri Lumbanraja Radiology Study Program Sekolah Tinggi Ilmu Kesehatan Senior Medan
  • Lulut Alfaris Department of Marine Technology, Institut Teknologi Sepuluh November, Surabaya, Indonesian,
  • Budiman Nasution Physics departemen, Faculty Mathematics and Natural Science, Univeritas Negeri Medan, Medan, North Sumatera
  • Ruben Cornelius Siagian Medan State University
  • Arip Nurahman Department of Science education, Universitas Pendidikan Indonesia, Bandung



Robot arm analiysis, hyper-redundant robot, Mathlab software


The hyper-redundant type of robot is a type of robot that in carrying out its duties in the field of kinematics its degrees of freedom exceed the required minimum degrees. The advantage will be increased capability in operation and performance, if the degrees of freedom are excessive, even in unorganized and complex systems and environments. Algebraic approach method in inverse kinematics algorithm analysis can use; analytic algebra, jacobian basis, analytic KI, exponential multiplication, grobner, and conformal geometry. Iterative approach method in inverse kinematics algorithm analysis can use; genetic algorithm, fuzzy logic, ANFIS, and evolutionary algorithm. The geometric approach method in the inverse kinematics algorithm analysis can use; capital method. The purpose of this study is to analyze a virtual 2 arm robot, which will use axis manipulation in three dimensions using an inverse kinematics solution, using a geometric approach. How to step along on the z axis by rotating and using the reverse kinematics solution to the desired location. The visualization results will be repeated so as to ensure the effectiveness of the algorithm. As for this algorithm will provide a single solution, and this algorithm will prevent and reduce singularities if the link is lower.


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