Constraint in Katana Arm Robot Advantages of Proposed Vision Algorithm

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4.4.4 Constraint in Katana Arm Robot

This research is based on two type arm robot; one of them is Katana arm robot. Katana application is based on pick and place application. The motion of the arm robot can be set only for point to point motion where the movement of the robot according to the easiest path created by robot itself. The constraints are the movement of the arm robot unable to set to linear and circular motion where both of them mostly used in this research. Compare to KUKA arm robot, it can be done all of the motion state previously such as point to point motion, linear motion and also circular motion. Based on that features, KUKA arm robot is most applicable and reliable in assisting this system.

4.4.5 Advantages of Proposed Vision Algorithm

First main advantage being introduced in this research is the application of Region of Interest ROI. The differences of the suggested vision algorithm with other literatures are the ROI creation in Image Segmentation Step DSM and DIM application . This user’s define ROI creation capability enable users to extract the wanted features by simply using Figure 4.20: Required Features are Out of Workspace Area 116 the mouse button or fixed the area by using rectangle, where as in other literature the feature extraction steps are done using combinations of filters and methods to extract the wanted features. Second main advantage of the suggested algorithm is that the system can be easily trained without pre-knowledge of the requirement needed. In all other literature the system was built to solve a specific requirement that was pre-determined, any changes in the requirement will causes the system to be ineffective. The drawback of this algorithm is the reduced accuracy in detecting very fine or very complex images. Third main advantage is the system able to reproduce rejected object to be accepted by making correction for each defect by introducing 1 st and 2 nd Correction of Defect CoD. The rejected product will undergo 1 st CoD where it provides altering the uncertainties with inspection system as it cores for classified the product status. While 2 nd CoD act as the backup plan for rejected product from 1 st CoD where as in literature review for other researchers only for the inspection in detecting defects.

4.5 Comparison of Results