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New Robotic Architecture for NDT Applications

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F14%3A43923973" target="_blank" >RIV/49777513:23520/14:43923973 - isvavai.cz</a>

  • Result on the web

    <a href="http://www.ifac-papersonline.net/Detailed/69011.html" target="_blank" >http://www.ifac-papersonline.net/Detailed/69011.html</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.3182/20140824-6-ZA-1003.00989" target="_blank" >10.3182/20140824-6-ZA-1003.00989</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    New Robotic Architecture for NDT Applications

  • Original language description

    The paper deals with the new architecture of the 4 degrees of freedom manipulator for Non-Destructive Testing (NDT) of the pipe welds of complex geometries. The main contribution is to overcome the known disadvantages resulting from using standard robotic architectures (universal industrial or single purposes special manipulators) regarding e.g. space requirements or limited applicability. The direct and inverse kinematic is solved. The singularity configuration analysis of the manipulator is derived inthe sense of finding implicit description of the varieties in the task space. It makes possible to easily deal with singular configurations during the end-effector trajectory planning. In order to use the proposed manipulator for NDT of pipe welds the trajectory generators are introduced. The circumferential, elbow, longitudinal and branch weld are taken into account. It is shown that the trajectory parametrization of the first three types of welds can be found easily. But for the branc

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JD - Use of computers, robotics and its application

  • OECD FORD branch

Result continuities

  • Project

    Result was created during the realization of more than one project. More information in the Projects tab.

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Others

  • Publication year

    2014

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    IFAC Proceedings Volumes (IFAC-PapersOnline)

  • ISBN

    978-3-902823-62-5

  • ISSN

    1474-6670

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

    11761-11766

  • Publisher name

    International Federation of Automatic Control

  • Place of publication

    Cape Town, South Africa

  • Event location

    Cape Town, South Africa

  • Event date

    Aug 24, 2014

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article