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4. 4), controller module and a robot arm. Unlike most computers, the controller does not have BIOS (basic input output system) memory; therefore the robot time needs to be changed with the actual time every time after tuned on. 3. Kinematics Kinematics in robotics is a statement form about geometrical description of a robot structure. From the geometrical equation we can get relationship among joints spatial geometry concept on a robot with ordinary co-ordinate concept which is used to determine the position of an object.

285–90. , 2003. Dynamic characteristics of pneumatic muscle. In IEEE Ann. Biomed. 310–7. , 2000. Improved modeling and assessment of pneumatic muscle actuators. In: Proceedings of IEEE Int. Conf. Robotics and Automation, San Francisco, CA, pp. 3641–6. 2 Kinematics of AdeptThree Robot Arm Adelhard Beni Rehiara University of Papua Indonesia 1. Introduction Robots are very powerful elements of today’s industry. They are capable of performing many different tasks and operations precisely and do not require common safety and comfort elements humans need.

1437-1442. Coyle,(1990), “Runge-Kutta methods for differential-algebraic systems”, SIAM Journal of Numerical Analysis, Vol. 3, pp. 736-752. 139, pp. 217-227. 20, pp. 153-166. Watts, (1977), “The art of a Runge-Kutta code. 3. pp. 257-275. C. 4. 179. C. K. 27, pp. 447-456. F. Freeman. San Francisco. CA. p. 23. [19] D. Gopal, V. Murugesan,(2006), “Numerical solution of secondorder robot arm control problem using Runge-Kutta-Butcher algorithm”, International Journal of Computer Mathematics, Vol. 83, No.

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