Alifantio, Frido Wahyu (2018) Implementasi Inverse Kinematics pada Kamera Laba-laba. Sarjana thesis, Universitas Brawijaya.
Abstract
Kamera laba-laba dapat digunakan untuk meningkatkan kualitas siaran pertandingan sepakbola di Indonesia. Sistem pergerakan kamera laba-laba dihasilkan dari perpaduan empat buah motor yang berada di tiap sudut di mana harus mengatasi gangguan berupa sistem mekanik alat, ketegangan kabel, dan bobot kamera. Penelitian ini berfokus pada ketepatan posisi akhir dan kecepatan gerak kamera laba-laba. Metode yang dapat diimplementasikan pada sistem pergerakan kamera laba-laba yaitu metode inverse kinematics. Inverse kinematics digunakan untuk mencari nilai sudut putaran pada masingmasing motor untuk mencapai posisi akhir yang diinginkan dari kamera laba-laba. Sistem pergerakan kamera laba-laba diuji pada enam skema pergerakan yang berbeda yaitu naik, turun, maju, mundur, kanan, dan kiri dengan masing-masing titik koordinat. Berdasarkan hasil pengujian didapatkan bahwa rata-rata error posisi akhir mendekati 0% pada ketelitian 0,5cm serta rata-rata error sudut putaran motor maupun panjang kabel akhir yaitu di bawah 1%. Kecepatan gerak kamera berdasarkan kecepatan motor yaitu sebesar 5,83cm/s.
English Abstract
Spider camera can be used to improve broadcast quality of football matches in Indonesia. The movement system of spider camera is produced from combination of four motors in each corner where have to deal with interference in the form of mechanical systems, cable tension, and camera weight. This research is focused on the accuracy of the final position and speed of spider camera motion. The method that can be implemented in the spider camera movement system is inverse kinematics method. Inverse kinematics is used to find the value of the rotation angle on each motor to reach the desired spider camera final position. The movement system of spider camera is tested on six different movement schemes that is up, down, forward, backward, right, and left with each coordinate point. Based on the experimental results, average error of the final position was close to 0% in precision value is 0,5cm and average error of the motor rotation angle and end of the cable length under 1%. The speed of spider camera motion based on the motor speed is equal to 5,83cm/s.
Other obstract
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| Item Type: | Thesis (Sarjana) |
|---|---|
| Identification Number: | SKR/FT/2018/1231/051901070 |
| Uncontrolled Keywords: | Kamera Laba-laba, Sistem Pergerakan, Inverse Kinematics. Spider Camera, Movement System, Inverse Kinematics. |
| Subjects: | 600 Technology (Applied sciences) > 629 Other branches of engineering > 629.8 Automatic control engineering > 629.89 Computer control > 629.892 Robots |
| Divisions: | Fakultas Teknik > Teknik Elektro |
| Depositing User: | Budi Wahyono Wahyono |
| Date Deposited: | 12 May 2020 04:49 |
| Last Modified: | 12 May 2020 04:49 |
| URI: | http://repository.ub.ac.id/id/eprint/167488 |
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