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
—