Kinematic Motion Control for Robot Mobile Manipulators as Fire Fighters

The purpose of this research is to make mobile manipulator robot as firefighting, to derivate kinematical formulation for mobile robot manipulator system, beside that is to make control system of such robot. The design and experiments were conducted in a mobile manipulator study as a firefighter. The result of this unmanned robot unmanned robot design can still carry the appropriate the standard sprinkle of firefighting system. The design of mobile manipulutor mechanism is done by using 3 SolidWorks 2010 design software design. The process of making robot begins with mobile robot as base frame and then installed the robot manipulator. Direct control method was done in this research by using arduino mega as interface system. The conclusion of this research is that robot can move with direct control and autonavigation for tracking trajectory case as firefighting system. (paper)