Time optimization based trajectory planning of ultrasonic inspection

被引：0
|
作者：
Zheng H.-F. [1 ,2 ]
Zhou X.-J. [1 ]
Zhang Y. [1 ]
机构：
[1] College of Mechanical and Energy Engineering, Zhejiang University
[2] College of Metrological Technology and Engineering, China Jiliang University
来源：
Zhejiang Daxue Xuebao(Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2010年 / 44卷 / 01期
关键词：
Time optimization; Trajectory planning; Ultrasonic inspection;
D O I：
10.3785/j.issn.1008-973X.2010.01.006
中图分类号：
学科分类号：
摘要：
The trajectory of ultrasonic detector end of a 5-DOF ultrasonic inspection manipulator was planned from the origin pose to the aimed one to improve the efficiency of feature point selection during the ultrasonic inspection of surface entity with high stability of probe. Firstly, the D-H notation and Newton-Euler recursive method were applied to set up the kinematics and dynamics models, respectively. Then, a quintic polynomial parameterized with the time of trajectory propagation was taken to fit the trajectory of ultrasonic detector. Finally, aiming to move in the shortest time, golden-section was applied to search the time optimal trajectory with the maximal limits of velocity and acceleration including the torque of joint actuators. This method satisfies the project requirements and obviously improves the efficiency and stabilization of the ultrasonic inspection.
引用
收藏
页码：29 / 33+183
相关论文
共 9 条
  • [1] Jiang J., Key technology research of integrated ultrasonic-imaging survey about aviation components, pp. 5-7, (2005)
  • [2] Wang Y.-Y., Wu R.-M., Zhou X.-J., Et al., Research on ultrasonic C-scan technique for large unsymmetrical composite component, Journal of Zhejiang University: Engineering Science, 38, 9, pp. 1208-1211, (2004)
  • [3] Wu S.-Y., Zhou X.-J., Jiang J., Et al., Research of surface reconstruction and path generation, Journal of Zhejiang University: Engineering Science, 40, 5, pp. 763-767, (2006)
  • [4] Lin E.S., Chang P.R., Luh J.Y.S., Formulation and optimization of cubic polynomial joint trajectories for industrial robots, IEEE Transactions on Automatic Control, AC-28, 12, pp. 1066-1073, (1983)
  • [5] Kim B.K., Shin K.G., An efficient minimum-time robot path planning under realistic conditions, Proceedings of 1984 American Control Conference, pp. 296-303, (1984)
  • [6] Hollerbach J.M., Suh K.C., Redundancy resolution of manipulator through torque optimization, IEEE Journal of Robotics and Automation, 3, 4, pp. 308-316, (1987)
  • [7] Tan G.-Z., Wang Y.-C., Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots, Control Theory and Applications, 20, 2, pp. 185-192, (2003)
  • [8] pp. 35-87, (1995)
  • [9] pp. 126-156, (1989)
1