Feasibility study of using industrial robot for ultrasound testing

Technical Report · Mon Feb 13 04:00:00 EST 1989

DOI:https://doi.org/10.2172/5367347· OSTI ID:5367347

Hsia, T. C. ^[1]

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1. California Univ., Davis, CA (USA). Dept. of Electrical Engineering and Computer Science

The purpose of this program is to study the feasibility of employing an articulated industrial robot arm to perform ultrasound scanning of a work piece. The robot arm suitable for such application is the Unimation PUMA 560 manipulator with six degrees of freedom. This research is intended to study the basic properties of several issues which arise in the operations of the UTB facility at LLNL. These issues involve the understanding of control algorithms for collision-free motions of the robot arm with and without redundant kinematics, trajectory generation schemes for automated surface tracking based on 3D CAD/CAM model of the work piece, and the effective use of computer vision and ultrasound sensor to achieve position calibration of a work piece and on-line trajectory modification for accurate surface tracking. The robotics research laboratory at UC Davis has a research robotic system based on a six degrees-of-freedom Unimation PUMA 560 arm and a VAL-II controller. This system is used as a research tool for the investigation. 20 refs., 8 figs.

• Research Organization: Lawrence Livermore National Lab., CA (USA); California Univ., Davis, CA (USA). Dept. of Electrical Engineering and Computer Science
• Sponsoring Organization: DOE/DP
• DOE Contract Number: W-7405-ENG-48
• OSTI ID: 5367347
• Report Number(s): UCRL-21243; ON: DE90002977
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420500* -- Engineering-- Materials Testing
440800 -- Miscellaneous Instrumentation-- (1990-)
47 OTHER INSTRUMENTATION
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
ACOUSTIC TESTING
ALGORITHMS
CALIBRATION
CARTESIAN COORDINATES
COMPUTERIZED CONTROL SYSTEMS
CONTROL EQUIPMENT
CONTROL SYSTEMS
COORDINATES
DATA PROCESSING
DEMONSTRATION PROGRAMS
DOCUMENT TYPES
EQUIPMENT
ERRORS
FUNCTIONS
GEOMETRY
JACOBIAN FUNCTION
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATERIALS TESTING
MATHEMATICAL LOGIC
MATHEMATICAL MODELS
MATHEMATICS
NONDESTRUCTIVE TESTING
PERFORMANCE
PROCESSING
PROGRESS REPORT
REAL TIME SYSTEMS
REMOTE HANDLING EQUIPMENT
RESEARCH PROGRAMS
ROBOTS
SERVOMECHANISMS
TESTING
ULTRASONIC TESTING
USES
VISION