Abstract
The dual-robotic ultrasonic nondestructive testing (NDT) system equipped with extension arm is an effective means to realize automatic ultrasonic testing of composite semi-enclosed workpieces. However, this cantilever structure amplifies the tiny vibrations of the inspection system, which seriously affects the coupling effect and the resolution of ultrasonic inspection. To solve the problem, this paper proposes a S-shaped acceleration and deceleration feature control algorithm to improve the motion stability and further to improve the inspection resolution of dual-robotic ultrasonic NDT system. Furthermore, the specific steps of S-shaped acceleration and deceleration features control algorithm in trajectory planning of the dual-robotic ultrasonic NDT system are described in detail. Comparative experiments of motion stability show that the acceleration in the x direction at the left and right ends of the detection area decreased significantly, from 0.15 to 0.08 m/s2 and the ultrasonic image of the internal defects have a higher resolution and smoother edges. The improvement plays an important role in promoting the resolution at the left and right ends of the detection area.
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