| dc.description.abstract | The field of robotics is one of the fields that is highly sought after by many companies and industries. In order to develop robotic technology, knowledge of mechatronics is required, which integrates the fields of mechanics, electronics, and control engineering. Many automation algorithms can be used in the field of mechatronics, and one of them is the Inverse Kinematics algorithm. This algorithm is widely used in robotic arms that can manually or automatically pick up and place objects and are equipped with sensors that support their performance. The purpose of this research is to detect and move an object (a cactus) to a designated point using a robotic arm created with a 3D printer to reduce the cost of purchasing expensive robotic arms, and then implementing the inverse kinematics algorithm in it. The results obtained from this research are that a 3 DOF robot was successfully designed and can detect and move objects based on their type. However, the average deviation obtained is x = 1 cm, y = 0.3 cm, θ0 = 1.3°, θ1 = 0.67°, and θ2 = 0.83°. This is due to the limit of the servo motor's ability and the voltage of the electric current entering it. However, the average deviation of points (x, y, z) for each object type varies between 0.5 to 2 cm, while for each (...0,...1,...2) of each object type varies between 1° to 2°. | en_US |
