Melola Discovery

← Melola Discovery

Open access Jurnal SINTA 2

Inverse Kinematic Algorithm with Newton-Raphson Method iteration to Control Robot Position and Orientation based on R programming language

IJCCS (Indonesian Journal of Computing and Cybernetics Systems) · Vol. 17 No. 2 (2023) · pp. 161–170

DOI
10.22146/ijccs.82781
ISSN
2460-7258, 1978-1520
Published
2023-04-30
Publisher
IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.
Language
eng
License
creativecommons.org/licenses/by-sa/4.0

Abstract

The homogeneous transform program is a function used to calculate the homogeneous transformation matrix at a specific position and orientation of a three-link manipulator. The homogeneous transformation matrix is a 4x4 matrix used to represent the position and orientation of an object in three-dimensional space. In the program, the rotation matrix R is calculated using the Euler formula and stored in a 4x4 matrix along with the position coordinates. The Jacobian matrix function calculates the Jacobian matrix at a specific position and orientation of a three-link manipulator using the homogeneous transformation matrix. The Euler formula used in the program is based on the rotation matrices for rotations around the x, y, and z-axes. The output of these functions can be useful for future research in developing advanced manipulators with improved accuracy and flexibility. Research gaps in exploring the limitations of these functions in real-world applications, particularly in scenarios involving complex manipulator configurations and environmental factors.

Keywords

Collaboration network of the authors

8 authors · 18 co-authorship links · 4 across different organisations

Hover or tap a name to highlight its co-authors. Double-click to open the author's page.

  • Swiss German University
  • State University of Medan
  • Affiliation unknown
  • Different organisations
  • Same organisation
  • Affiliation unknown
  • Thicker line = more joint articles · bigger circle = more articles
Show as table
Co-authorOrganisationJoint articles
Firdaus Andi WibowoSwiss German University1
Tomi YuliantoSwiss German University1
Nicholaus Ola MalunSwiss German University1
Rizqy RionaldySwiss German University1
Verdi YasinAffiliation unknown1

Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://journal.ugm.ac.id/ijccs/oai, first harvested 26 Okt 2026, last seen 26 Okt 2026.
Original metadata (oai_dc) 
<oai_dc:dc xmlns="http://www.openarchives.org/OAI/2.0/" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/  http://www.openarchives.org/OAI/2.0/oai_dc.xsd">
	<dc:title xml:lang="en-US">Inverse Kinematic Algorithm with Newton-Raphson Method iteration to Control Robot Position and Orientation based on R programming language</dc:title>
	<dc:creator>Nasution, Budiman</dc:creator>
	<dc:creator>Alfaris, Lulut</dc:creator>
	<dc:creator>Siagian, Ruben Cornelius</dc:creator>
	<dc:subject xml:lang="en-US">Computer Science; Physics Computing, Mathematics Computing, R Programing</dc:subject>
	<dc:subject xml:lang="en-US">Homogeneous transformation program; homogeneous transformation matrix; Three-link manipulator; the Jacobian matrix; Euler's function formula</dc:subject>
	<dc:description xml:lang="en-US"> The homogeneous transform program is a function used to calculate the homogeneous transformation matrix at a specific position and orientation of a three-link manipulator. The homogeneous transformation matrix is a 4x4 matrix used to represent the position and orientation of an object in three-dimensional space. In the program, the rotation matrix R is calculated using the Euler formula and stored in a 4x4 matrix along with the position coordinates. The Jacobian matrix function calculates the Jacobian matrix at a specific position and orientation of a three-link manipulator using the homogeneous transformation matrix. The Euler formula used in the program is based on the rotation matrices for rotations around the x, y, and z-axes. The output of these functions can be useful for future research in developing advanced manipulators with improved accuracy and flexibility. Research gaps in exploring the limitations of these functions in real-world applications, particularly in scenarios involving complex manipulator configurations and environmental factors. </dc:description>
	<dc:publisher xml:lang="en-US">IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.</dc:publisher>
	<dc:contributor xml:lang="en-US"></dc:contributor>
	<dc:date>2023-04-30</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:type xml:lang="en-US"></dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://journal.ugm.ac.id/ijccs/article/view/82781</dc:identifier>
	<dc:identifier>10.22146/ijccs.82781</dc:identifier>
	<dc:source xml:lang="en-US">IJCCS (Indonesian Journal of Computing and Cybernetics Systems); Vol 17, No 2 (2023): April; 161-170</dc:source>
	<dc:source>2460-7258</dc:source>
	<dc:source>1978-1520</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://journal.ugm.ac.id/ijccs/article/view/82781/36327</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2023 IJCCS (Indonesian Journal of Computing and Cybernetics Systems)</dc:rights>
	<dc:rights xml:lang="en-US">http://creativecommons.org/licenses/by-sa/4.0</dc:rights>
</oai_dc:dc>