@inproceedings{b87801b6f68b4aa19da2d2dad53b9904,
title = "Kinematic analysis and simulation of ultrasonic testing manipulator",
abstract = "Ultrasonic testing for these workpieces with complex shapes is still a challenge in NDT filed. In order to address this problem, this paper provide an effective solution for curved surface scanning using Staubli TX90XL manipulator with six freedom degrees. Here an arm-wrist separateness method is adopted to solve the inverse of manipulator and a shortest distance rule is used to optimize the inverse solutions. Furthermore, we have developed a 3D application software to simulate the ultrasonic trajectory planning for complex shape specimens. Finally, the validity of this scanning method is verified by the C-scan results of the specimen with a curved surface.",
keywords = "kinematic analysis, kinematic simulation, ulrasonic testing",
author = "Xinliang Li and Xinyu Zhao and Juan Hao and Zongxing Lu and Ye Huang and Liu Yang",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE 11th Far East Forum on Nondestructive Evaluation/Testing: New Technology and Application, FENDT 2014 ; Conference date: 20-06-2014 Through 23-06-2014",
year = "2014",
month = oct,
day = "16",
doi = "10.1109/FENDT.2014.6928251",
language = "English",
series = "FENDT 2014 - Proceedings, 2014 IEEE Far East Forum on Nondestructive Evaluation/Testing: New Technology and Application, Increasingly Perfect NDT/E",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "148--152",
editor = "Qinxue Pan and Chunguang Xu and Liu Yang",
booktitle = "FENDT 2014 - Proceedings, 2014 IEEE Far East Forum on Nondestructive Evaluation/Testing",
address = "United States",
}