Abstract:
Two Sensors is being used in on and off schem
to automate the industrial robot automatic edg
detection process. In dual sensor logic th
ascending, descending and flat curve can b
identified immediately and the next movement ca
be planned. This work is trying to improve fro
two proximity sensors to only one sensor for th
said task. In order to implement one sensor fo
normally dual sensor approach in general contou
tracking application need creativity in roboti
programming. The creativity aspect need to b
tapped in order to plan sensing movement an
application movement simultaneously with onl
one sensor since the objective of contour trackin
work is to do online tracking. Online trackin
meaning the robot tracks unknown contour an
performing application work such welding o
painting simultaneously. Offline tracking is quit
forgiving since the robot can do any movement t
capture contour information in the searching phas
while filtering out the noise points in th
subsequent execution phase such as doing weldin
or sealing jobs. The result from this work show
that the adapting gradient method reduced th
overall accumulation of tracking error even thoug
employing only single sensor for detection purpose
