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Nowadays, robot manipulators are an important part of the automation and control sector, so they indicate the significance of the associated control methodologies. These finds broad applications in various areas, especially in medical, aerospace and industrial assembly processes. Rigid robot manipulators form an important class of manipulators where they interact with the environment physically. Robot manipulator is a non-collocated system that leads to inaccurate system performance. To solve the aforesaid issue, a vision sensor can be employed for direct measurement of tip position instead of the traditional mechanical sensors. The major objective of the work presented here is development of a vision-based method for controlling the tip position of a planar 2-DOF single-link rigid robot manipulator (2DSLRM) from one point to another. In this paper, to achieve the desired tip position, feedback is taken from an encoder and visual sensor from the tip of Single-Link Robot Manipulator (SLRM). The acquired results show that the developed control method improves tip position control performance of 2DSLRM as compared to the traditional mechanical sensors. Simulation and experiment have been performed to study the performance of the proposed tip position control of 2DSLRM.

The frothers of alcohol family (MIBC and Alpha-terpineol) were compared with polyglycol ethers (DF-1012) in terms of two phase characterization parameters like foamability, foam stability, surface activity and bubble size distribution. In this research, fundamental two phase frother characterization parameters were linked with three phase coal flotation behavior. The frothers are found to have a major impact on bubble size. It seems that frothers not only prevent bubble coalescence, but also, affect the bubble break-up process. DF-1012 is more efficient in preventing bubble coalescence and provides more stable and viscous foams compare to MIBC and Alpha-terpineol. The least surface-active frother, MIBC, produces the finest bubbles and the largest bubbles are observed when the most surface-active frother DF-1012 is used. DF-1012 is showing parallel (loop and coil) orientation at the air–water interface. DF-1012 is showing maximum frothing performance (max. retention time) and foam stability (max. collapse time) at all pH. DF-1012, Alpha-terpineol and MIBC are insensitive to solution pH. Two phase frother characterization indices and observations are well correlating with three phase flotation performance indices like selectivity, kinetics and size wise flotation efficiency.