Experiment 2 Classification of Types of Defect

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4.2.2 Experiment 2 Classification of Types of Defect

For this second experiment, involves KUKA arm robot as assistive robot for gluing process. KUKA arm robot get the information from the Defect Shape Pointing DSP application where it generates 3D transformation that involves x, y and z coordinates. These coordinates supplied by the system after all the required point generates from DSP application. After the gluing process done, the classification of defect’s type will takes placed in determining the defect types also its location. As same with first experiment, the shape of the defect needs to be trained first before matching it with the process object. Figure 4.8 shows the model template used in this experiment. This experiment combines step matching and classifying the defects occurs in the system also known as Defect Inspection Monitoring DIM. DIM consists of 2 cameras, KUKA arm robot as assistive robot, object pyramid after finished gluing process and a glue gun attached at the end effector of the robot. Figure 4.9 shows the experimental setup of this experiment. Figure 4.8: Template Creation for Defect Model 101 In this experiment, KUKA arm robot will complete its task in gluing object pyramid according to the data given from DSP. Data sending includes with defect position in x, y and z coordinates. Then, the complete gluing object will then process by clicking bu tton ‘Start’ from Defect Inspection Monitoring DIM application. Camera 1 will trigger and directly capture image and display it in display window. Then, the image will process automatically by comparing image process with the train image template in determining and classifying defects occur. Number and type of defects occur are recorded with their position. The position data then will be used in next experiment for correcting any defects occur through the system. Results obtained will decide whether the object is perfectly gluing or needs to be corrected in Correction of Defect CoD application. If the system detects any defect, it will result to the next experiment while the system will continue with another object when the result is otherwise. Figure 4.9: Classification of Defects Types Experimental Setup 102

4.2.3 Experiment 3 Correction of Defects