Performance Evaluation of 3 DOF Arm Robot With Forward Kinematics Denavit-Hartenberg Method For Coffee Maker Machine

Abstract

This paper presents the implementation of the forward kinematics Denavit-Hartenberg method on a 3 DOF arm robot which is implemented on a coffee maker. This system imitates human movement which works as a regulator of the movement direction of the robotic arm joints. Degree of Freedom (DOF) is set to support the movement method of the manipulator robot. In the process of making coffee, a robotic arm requires a minimum of 3 to 4 joints (3 to 4-DOF) to do the job of imitating a human arm. The forward kinematics method uses kinematic equations to determine the joints of the robot so that the final coordinates of its movement can be determined. The Denavit-Hartenberg method is implemented on 4 variables that become parameters for analyzing the forward kinematics robot movement. These four parameters are used in matrix transformation to determine the relationship between matrices which represents the position and orientation of one body to another. Overall, the results of repeatability testing in moving coffee cups with a deviation standard value for the x-coordinate is 0.060, for the y-coordinate is 0.020 and for the z-coordinate is 0.000. In accordance with the deviation standard theory that smaller deviation standard value, better the repeatability.