SIMULATION AND EXPERIMENTAL WORK OF KINEMATIC PROBLEMS FOR KUKA KR 5 SIXX R650 ARTICULATED ROBOT

This paper studies an analytic solution for 6-DOF manipulator of a KUKA KR 5 SIXX R650 robotic arm using forward and inverse kinematics in a simple movement process. This paper proposes two points of movement in order to study three types of path motion used in the robotic arm. The three path motions are PTP (point-to-point), linear and circular. The motions are analyzed systemically using forward kinematics and inverse kinematics. The objective of forward kinematic analysis is to determine the cumulative effect of the entire set of joint variables. A simulation oriented analysis is obtained and comparison between simulation and experimental result is done. The result for both simulation and experimental works show close connection for the task. This robot is suitable to be applied to the teaching and training environment

DEFECT INSPECTION SYSTEM FOR SHAPE-BASED MATCHING USING TWO CAMERAS

This research is regarding the application of a vision algorithm to investigates various approaches for automated inspection in of gluing process using shape-based matching application in order to control the decision making concerning jobs and work pieces recognition that are to be made during system operation in real time. A new supervised defect detection approach to detect a class of defects in gluing application is proposed. Creating of region of interest in important region of object is discussed. Gaussian smoothing features in determining better image processing is proposed. Template matching in differentiates between reference and tested image are proposed. This scheme provides high computational savings and results in high defect detection recognition rate. The defects are broadly classified into three classes: 1) gap defect; 2) bumper defect; 3) bubble defect. A new low-cost solution for gluing inspection is also included in this paper. The defects occur provides with information of height (z-coordinate), length (y-coordinate) and width (x-coordinate). This information gathered from the proposed two camera vision system for conducting 3D transformation

METAL LINE DETECTION: A NEW SENSORY SYSTEM FOR LINE FOLLOWING MOBILE ROBOT

This paper presents a new type of line following robot that uses metal sensor to detect metal line and maneuver around based on that line. The paper focused on developing the hardware model of automated guide vehicle (AGV) system and integrating it with metal detection sensor. The system performance is measured in a straight line movement and when the robot turns at specific degrees.The metal line following robot can be used to move objects in daily life operation, warehouse operations or manufacturing facility to any desired location automatically. A metal line with certain length can be placed on the desired floor to indicate the path that the robot requires to move. Based on the experimental studies, it showed that the mobile robot can maneuver and track the metal line that is attached on the floor by utilizing three inductive proximity sensor located in front of the robot. This sensory system can be used as alternative sensor instead of using line following sensor which normally based on the infrared proximity detector. The line following robot that operates based on the metal line capable to overcome the problem of different light intensity reflection

Issues and Challenges of Sensor Technologies in Microelectromechanical System (MEMS) in Smartphones for Motion Tracking Applications

Following the popularity of smartphone, the needs for accurate motion tracking have grown rapidly. Microelectromechanical system (MEMS) sensor has been commonly used in smartphones. Inertia Measurement Unit (IMU) usually functions in motion sensing. In this review, we explained the concept of MEMS accelerometer, gyroscopes and magnetometer. We discussed the issues and challenges of MEMS sensor in smartphones for motion tracking application and ways to improve it. noise-full and drifting are issues related to angle estimation in IMU. Many types of the filter were applied to improve the angle estimation. Challenges in navigation and motion tracking are stated. The combination of IMU, a global positioning system (GPS) and MEMS pressure sensor can increase the accuracy of motion tracking efficiently. The conclusion of issues and challenges of MEMS sensor and improvements were also presented