Autonomous contour tracking using staircase method for industrial robot

One of the major problems in manufacturing industry is a manual contour tracking programming for industrial robot tasks. These tasks such as welding, sealing and painting applications are very tedious and time consuming. This paper presents a study on developing a staircase method in order to automa...

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Bibliographic Details
Main Authors: Prabuwono, A.S., Burhanuddin, M.A., Said, S.M.
Format: Conference Proceeding
Language:English
Subjects:
Automatic programming
contour tracking
Coordinate measuring machines
industrial robot
Manufacturing industries
Measurement standards
Robot kinematics
Robot programming
Robotics and automation
Service robots
staircase method
Welding
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Summary:One of the major problems in manufacturing industry is a manual contour tracking programming for industrial robot tasks. These tasks such as welding, sealing and painting applications are very tedious and time consuming. This paper presents a study on developing a staircase method in order to automate the manual programming process. This work will transform a standard industrial robot into autonomous contour tracking robot which has more value such as performs as coordinate measuring machine (CMM). The staircase algorithm has been developed and tested using a SCARA ADEPT robot. The experimental results demonstrate that the total good sample of 78 points was collected over 80 millimeter horizontal measuring distance.
DOI:10.1109/ICARCV.2008.4795886