Development of Robotic Arm Manipulator Control System for Micromilling Tool Wear Monitoring Based on Computer Vision

Gandjar Kiswanto, Fachryal Hiltansyah, Muhammad Ramadhani Fitriawan, Ramandika Garindra Putra, Christiand, Shabrina Kartika Putri

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

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.

Original languageEnglish
Title of host publication2021 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages69-76
Number of pages8
ISBN (Electronic)9780738132051
DOIs
Publication statusPublished - 3 Feb 2021
Event7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021 - Virtual, Budapest, Hungary
Duration: 3 Feb 20215 Feb 2021

Publication series

Name2021 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021

Conference

Conference7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
Country/TerritoryHungary
CityVirtual, Budapest
Period3/02/215/02/21

Keywords

  • control system
  • micromilling
  • robot manipulator
  • tool wear

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