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Kinematics of Robot Joules via Complex Numbers

This document analyzes the kinematics of a robotic system called Robot Joules using complex number calculations and compares the results to traditional polygon graphics methods. The study found that both methods produced similar position, velocity, and acceleration results but that calculations using complex numbers and MATLAB were faster and more efficient than the graphical polygon method, especially when analyzing multiple positions of the mechanism.

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Ebenk Ariie
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8 views2 pages

Kinematics of Robot Joules via Complex Numbers

This document analyzes the kinematics of a robotic system called Robot Joules using complex number calculations and compares the results to traditional polygon graphics methods. The study found that both methods produced similar position, velocity, and acceleration results but that calculations using complex numbers and MATLAB were faster and more efficient than the graphical polygon method, especially when analyzing multiple positions of the mechanism.

Uploaded by

Ebenk Ariie
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

ABSTRACT

KINEMATICS ANALYSIS OF ROBOT JOULES USING COMPLEX NUMBERS

By HARRY GUSTY NUGROHO

In general, kinematics analysis is done using graphics methods. But this method requires a substantial time in analyzing the kinematics of a mechanical system. With the development of technology, especially in the field of computers and informatics can facilitate the engineer in analyzing the kinematics. One method used with the aid of a computer program is the method of complex numbers. This study aims to analyze and compare the position, velocity, and acceleration results of the calculation method of complex numbers and methods of polygon graphics.

The study was conducted on a robotic mechanical system, i.e. electric tandem bicycle partner named Robot Joules. Necessary data were analyzed using the method of complex numbers with the help of MATLAB program. Results of analysis using the method of complex numbers were compared with the results of analysis using the method of polygon graphics. For comparison, data input were made equal to the angular velocity rod 2 (2) of 10 rad/s and angular acceleration

Harry Gusty Nugroho of rod 2 (2) at 0 rad/s2 when bar 2 was at position angle 90 from the positive xaxis.

The results showed that both methods showed similar results. This is because, basically both of these methods is the analytic method. However, calculations by computing (complex numbers) faster and more efficient than the graphical method at the same time for different positions the entire mechanism.

Key words: kinematics, robot joules, complex numbers

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