Kinematic and Dynamic Equation Modelling of Wireless 6 Degree-of-Freedom Assistive Robot Arm

This research is done to make a design of assistive robot arm which is used in transporting goods. In order to design a robot arm, kinematic and dynamic equations must be found so the robot can move properly. In this research, the inverse kinematic equation is found using geometric approach and the dynamic equation is found using Lagrange-Euler method. The result showed that the robot arm implemented has accuracy to reach the desired coordinate of 84.01%. The implementation of wireless communication using Bluetooth module has a success rate of 83.33% and delay time between user and the robot arm for $\mathbf{1. 0 5}$ seconds. The dynamic equations still need to be verified in future research.