Contour Following Task with Dual Sensor Logic Algorithm for Adept Selective Compliant Assembly Robot Arm Robot
Anton Satria Prabuwono, Samsi Md. Said, Riza Sulaiman and Elankovan Sundararajan
DOI : 10.3844/jcssp.2009.557.563
Journal of Computer Science
Volume 5, Issue 8
Problem statement: The capability of performing autonomously a contour following task of a shape object is required for an industrial robot manipulator. These tasks include welding, sealing, grinding, painting and many more. These applications are very tedious and time consuming if done by manual contour following system. Approach: This study proposed the development of dual sensor logic algorithm for contour following task in order to automate the manual programming process. Results: The outcome of this study was to make industrial robot capable of doing self learning to follow the contour with minimal human involvement. The algorithm had been developed and tested using Adept Selective Compliant Assembly Robot Arm (SCARA) robot. Conclusion: The result showed its possibility could be used as automated contour following task for real industrial robot.
© 2009 Anton Satria Prabuwono, Samsi Md. Said, Riza Sulaiman and Elankovan Sundararajan. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.