Detail Development of Robotic Arm Manipulator Control System for Micromilling Tool Wear Monitoring Based on Computer Vision (paper of 2021 7th International Conference on Mechatronics and Robotics Engineering (ICMRE) 3-5 Feb. 2021) Bibliografi Author: Kiswanto, Gandjar ; Hiltansyah, Fachryal ; Fitriawan, Muhammad Ramadhani ; Putra, Ramandika Garindra ; Christiand ; Putri, Shabrina Kartika Topik: robot manipulator; control system; micromilling; tool wear Bahasa: (EN )     Penerbit: IEEE     Tahun Terbit: 2021     Jenis: Papers/Makalah - pada seminar internasional Fulltext: kiswanto2021.pdf (5.75MB; 1 download) [Informasi yang berkaitan dengan koleksi ini di internet] Abstract The process of documenting and measuring for monitoring the tool wear in micromilling requires high accuracy. This process uses a Dino-Lite digital microscope to take pictures and is repeated every time after machining by removing the cutting tool from the spindle on the micromilling machine. Therefore, the development of a manipulator robot is made to simplify the process of monitoring the micromilling tool wear. Control of servo and stepper motors movements in the development of a robot manipulator control system are performed using an Arduino microcontroller board MEGA2560. The actuator is moved to place the end-effector coordinate point at the tip of the Dino-Lite lens to the coordinate point at the tip of the micromilling cutting tool's surface. To find kinematics solutions for robotic manipulators, the help of Python software is used to facilitate calculations. The kinematics solution in the form of a joint value will be sent to the servo via a microcontroller using the command code created using the Arduino IDE software. Based on research conducted there are accuracy errors on servo 1, 2, and 3 values of 16.471%, 1.463%, and 0.588%. However, after the error compensation process is carried out, the value is reduced to 0.003%, 0.143%, and -0.382%, then repeatability of the robot manipulator movement is good in each servo, which is close to 0 so that it can put the end-effector to the intended point and can make the robot manipulator work according to its function. Opini Anda Klik untuk menuliskan opini Anda tentang koleksi ini! Lihat Sejarah Pengadaan  Konversi Metadata   Kembali

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