Abstract
This paper presents the automation of soil testing using an industrial robot with six degrees of freedom. Mixing soil and cement for soil testing imposes a heavy burden on workers. For shortening the soil test time, we focused on soil and cement mixing and developed a controllable mixing system using a robot and a motor unit to monitor and carry out soil-cement mixing, respectively. Using a software program, the system alters the mixing paddle revolution, rotation, position, and posture angle. As a result, the phenomenon that occurs during soil-cement mixing is evaluated using the system and the data for developing in demand.
