Motion Optimization using Modified Kalman Filter for Invers-Kinematics based Multi DOF Arm Robot
The development of technology today is very rapid, one of which is robotics technology. Currently robots have a very important role for human life, one of them is in the fields of health and medicine. This type of robot has evolved much like humans even though only certain parts, such as legs and arms. One of the imperfections of humans is paralysis of the arm. Paralysis in the arm is a disruption of motion in the human arm. Impaired function can be caused by genetic disorders, accidents or diseases. Research was developed to make a tool that is used to overcome these functional disorders. The robotics research developed is the exoskeleton robot for the arm. Exoskeleton is a supporting structure from the outside of the body. The exoskeleton has prospective applications for rehabilitation or assistive devices. This robot can help patients who are weak and paralyzed to regain independent life with the ability to carry out daily activities, especially in the movement of the arms. So in this paper examines the estimates for the angle velocities of shoulder joint and the angle velocities of elbow joint on the am robot, to determine the movement of the robot arm only on the x and y axes. The simulation result showed that the simulation with the lower error has an accuracy more than 96%. The Angle Velocities of Shoulder Joint error of x is 0.0195 rad/s, and Angle Velocities of Shoulder Joint which is 0.02883 rad/s.