KONFIGURASI KINEMATIK DAN DINAMIK SIMULATOR KENDALI TURRET

Abstract

Technology development is a fundamental need for a country, especially in the defense area. To catch up
technological with advancement, it requires many skills according to the vast and complex defence technology
development. We need to start basic research in the defense area to minimize our dependence to foreign countries.
One important device that is still imported is the gun turret. This equipment can be placed in a tank or a battle
ship to control gun, cannon or missile launcher.
The design of a turret control simulator is a preliminary stage in designing the real turret. This simulator
implements knowledge from robotic science which study the kinematic and dynamic aspects of a robot. From the
kinematic aspect, the speed of each link is known. From the dynamics aspect, the torque for each joint from the
actuator, which due to the hydraulic force or a hydraulic torque, is known. The Newton-Euler method is used to solve
the dynamic equation.