Development and Control of an Unmanned Ground Vehicle (UGV) Robotic Arm for Volcanic Material Sampling Based on Kinematics Modelling

The Unmanned Ground Vehicle (UGV) Robot Arm is needed to take samples of volcanic material, namely material samples in the form of rocks from the Volcano which will later be studied more accurately. The focus of this research is on developing a robotic arm to take samples of volcanic material mounted on the UGV. The Robot Arm consists of 3-DOF (Degree Of Freedom) equipped with a Gripper to make it easier to take samples of the material from the Top of the Volcano. The Robot Arm is placed on the upper front of UGV Robot body. The movement of the Robot Arm utilizes Rotational Motion in each DOF. The Kinematic Model of this 3-DOF robotic arm was built using the Denavit Hartenberg method. This study discusses the movement of the robot arm with 3 degrees of freedom where the robot used has one kinematic strand consisting of 3 joints with the revolute type. The angle at each joint can be determined using a method used in this research, namely forward kinematics and inverse kinematics. Experimental activity shows that the error occurs because the mechanical system is less precise rather than the method used