Intelligent Measurement Sampling for Industrial Robot Automatic Contour Following Application

Abstract

Noncontact Contour tracking is important aspect for industrial robot to autonomously follow contour in order to do online welding, painting and automatic application programming. Normal approach of contour tracking using adapting gradient approach generate a lot of noise point in the region of flat curve along the contour. To eliminate these noise points is very crucial in order to achieve appropriate quality process requirement. Fuzzy logic is being used in order to eliminate the flat contour region and complex or high slope region in geometric curve periphery. This intelligent approach will discriminate flat or simple contour and complex contour so that the number of sampling point will be allocated according the complexity of the region. It is shown in this work that fuzzy logic methodology is quite effective in removing unwanted noise and improving the accumulation of error along contour surface to be tracked.