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One of the major problems in manufacturing industry is a manual contour tracking programming for industrial robot tasks. These tasks such as welding, sealing and painting applications are very tedious and time consuming. This paper presents a study on developing a staircase method in order to automate the manual programming process. This work will transform a standard industrial robot into autonomous contour tracking robot which has more value such as performs as coordinate measuring machine (CMM). The staircase algorithm has been developed and tested using a SCARA ADEPT robot. The experimental results demonstrate that the total good sample of 78 points was collected over 80 millimeter horizontal measuring distance.

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Abstrak. Metode geolistrik tahanan jenis merupakan salah satu dari metode geofisika yang dapat mendeteksi aliran listrik di bawah permukaan bumi. Salah satu aplikasi metode geolistrik tahanan jenis adalah dapat mengidentifikasi bidang gelincir pada daerah rawan longsor. Penelitian ini bertujuan untuk mengetahui bidang gelincir pada daerah rawan lonsor di ruas jalan Toraja – Mamasa. Hasil dari pengukuran geolistrik tahanan jenis dipadukan dengan hasil pengeboran di beberapa titik agar tidak terjadi kesalahan dalam proses interpretasi batuan yang diduga sebagai penyebab terjadinya tanah longsor. Informasi tentang perlapisan tanah tersebut digunakan untuk mengetahui batas-batas ketidakstabilan pada lapisan tanah yang dapat menjadi acuan dalam pengembangan wilayah, khususnya ruas jalan Toraja - Mamasa. Dalam penelitian ini diperoleh nilai resistivitas yang berbeda-beda untuk setiap batuan. Variasi resistivitas yang diperoleh dimulai dari 0 – 978 Ωm. Nilai resistivitas batuan pada bidang gelincir di lokasi penelitian berada pada bidang batas 50-300 Ωm. Batuan  penyusunnya berupa batupasir lempung, lava andesit dan basalt. Abstract The resistivity geoelectric method is one of the geophysical methods that can detect the flow of electricity below the earth's surface. One application of the resistivity geoelectric method is to identify the slip field in landslide prone areas. The research aimed to discover slip area of landslide prone zone at the segment road of Toraja-Mamasa. The results of the geoelectric resistivity measurements are combined with the results of drilling at several points so that there are no errors in the process of rock interpretation which are thought to be the cause of landslides. Information about the soil layers is used to determine the boundaries of instability in the soil layer which can be used as a reference in regional development, especially the Toraja - Mamasa road segment. In this research, it was obtained different resistivity values for each rock. The resistivity variation obtained started from 0 - 978 Ωm. The rock resistivity value in the slip plane at the research location is in the 50-300 Ωm boundary fields. The rocks lithologies are clay sandstones, andesite lava and basalt.