Representasi Aljabar dan Geometri Interaktif dalam Permasalahan Kinematika Invers PRoM-120
Abstract
PRoM-120 merupakan manipulator paralel ruang dengan derajat kebebasan tiga yaitu satu gerakan translasi dan dua gerakan rotasi pada end-effector-nya. Manipulator ini disusun oleh rantai kinematika 2(PRU)-PRS, dengan sambungan aktif berupa aktuator linier. Kajian yang disajikan dalam manuskrip bertujuan untuk menentukan jawab kinematika inversnya dengan menerapkan penyelesaian secara aljabar dan geometri interaktif. Penyelesaian secara aljabar memberikan jawab analitik tertutup kinematika invers. Sementara itu, penggunaan geometri interaktif melalui perangkat lunak GeoGebra dilakukan dengan menempatkan objek geometri seperti titik, garis, lingkaran, poligon, pada ruang kerjanya terlebih dahulu. Selanjunya, korelasi antar objek-objek ini dapat diekplorasi berdasarkan sifat-sifat geometri antar objek-objek ini, seperti perpotongan atau persinggungan. Sebagai konsekuensinya, jawab kinematika invers merupakan hasil ekplorasi sifat-sifat geometri antar objek geometri dalam bentuk titik potong atau titik singgung. Dengan demikian, metode geometri interaktif ini menghasilkan jawab dan visualisasi kinematika invers secara bersamaan tanpa harus menemukan jawab tertutupnya.
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