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Perhitungan Matriks D-H Lengan Robot

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Subekti Mokhamad
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9 views

Perhitungan Matriks D-H Lengan Robot

Uploaded by

Subekti Mokhamad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as XLSX, PDF, TXT or read online on Scribd
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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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