Contour Following Task with Dual Sensor Logic Algorithm for Adept Selective Compliant Assembly Robot Arm Robot

摘要

Abstract: 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. Key words: Dual sensor logic, contour following, adept SCARA robot