Implementation of Inverse Kinematics on Arduino-Based SAR Robot Leg Design as a Control for Robot Motion Maneuverability

摘要

The development of robotics has progressed linearly over time. There are many innovations in robot locomotion, such as the use of wheels in terms of robot mobility. However, this solution has limitations when traversing challenging terrain, such as steep or uneven surfaces. To overcome this problem, an innovation was developed that imitates the body structure and movement mechanism of ants using six legs. These robotic legs are equipped with servos, functioning similarly to joints, mirroring those found in real ants. For movement, this robot utilizes inverse kinematics, a process that takes coordinate input and translates it into the required angular degrees for its smart servos. The robotic core system is an Arduino Mega 2560 Pro microcontroller, enabling more extensive and fluid limb movements. However, the leg design must be adjusted to calculate the inverse kinematic angle to ensure the robot's body remains balanced, provide suspension to dampen unwanted vibrations, allow the robot to move freely at various tilts, and minimize the risk of damage when moving at high speeds. This research focuses on structuring the leg design and determining inverse kinematic parameters which aim to maximize robot maneuvering on uneven surfaces. The results of this research are robot realization and robot testing experiments. From the results of the inverse kinematics experiment, it was found that the average error value for the X axis for each leg was 1.64%, the Y axis was 2.61% and the Z axis was 6.88%.