Inverse Kinematic Analysis and Evaluation of a Robot for Nondestructive Testing Application
Joint Authors
Pan, Qinxue
Xu, Chunguang
Lu, Zongxing
Zhao, Xinyu
Li, Xinliang
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-09-30
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
The robot system has been utilized in the nondestructive testing field in recent years.
However, only a few studies have focused on the application of ultrasonic testing for complex work pieces with the robot system.
The inverse kinematics problem of the 6-DOF robot should be resolved before the ultrasonic testing task.
A new effective solution for curved-surface scanning with a 6-DOF robot system is proposed in this study.
A new arm-wrist separateness method is adopted to solve the inverse problem of the robot system.
Eight solutions of the joint angles can be acquired with the proposed inverse kinematics method.
The shortest distance rule is adopted to optimize the inverse kinematics solutions.
The best joint-angle solution is identified.
Furthermore, a 3D-application software is developed to simulate ultrasonic trajectory planning for complex-shape work pieces with a 6-DOF robot.
Finally, the validity of the scanning method is verified based on the C-scan results of a work piece with a curved surface.
The developed robot ultrasonic testing system is validated.
The proposed method provides an effective solution to this problem and would greatly benefit the development of industrial nondestructive testing.
American Psychological Association (APA)
Lu, Zongxing& Xu, Chunguang& Pan, Qinxue& Zhao, Xinyu& Li, Xinliang. 2015. Inverse Kinematic Analysis and Evaluation of a Robot for Nondestructive Testing Application. Journal of Robotics،Vol. 2015, no. 2015, pp.1-7.
https://search.emarefa.net/detail/BIM-1070031
Modern Language Association (MLA)
Lu, Zongxing…[et al.]. Inverse Kinematic Analysis and Evaluation of a Robot for Nondestructive Testing Application. Journal of Robotics No. 2015 (2015), pp.1-7.
https://search.emarefa.net/detail/BIM-1070031
American Medical Association (AMA)
Lu, Zongxing& Xu, Chunguang& Pan, Qinxue& Zhao, Xinyu& Li, Xinliang. Inverse Kinematic Analysis and Evaluation of a Robot for Nondestructive Testing Application. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-7.
https://search.emarefa.net/detail/BIM-1070031
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070031