Efficient Control Mechanism Model of Robot Arm Movement In Fractal Form Based on Number of Steps and Amount of Energy Consumption

Tedjo Darmanto ,Cecep Nurul Hidayat ,Panji Maulana Sulaiman ,Devi Nurhayati ,M. Haerul Jabbar
Keywords: Efficient control mechanism model, IFS fractal model, partitioned-random iteration algorithm, shifting centroid method, robot arm system ,


An interesting control mechanism model of robot arm movement can be simulated well in fractal model based on an algorithm called the partitioned-random iteration by means of the set of self-affine transformations. The fractal model is called the iterated function system (IFS) model. The combination of rotation movement of each segment of the segments in the robot arm system can be accomplished by a method called the shifting centroid method, shifting the relative local centroid to the absolute centroid. In this paper, three segments in a chain as a robot arm can represent three levels of the degree of freedom on the robot arm system. There are three simulations to show the efficient movement or not of the very end of the third segment of the robot arm to reach the target based on the number of steps and the amount of energy consumption.