Robotic Coverage Path Planning for Ultrasonic Inspection
Automatic robotic inspection of arbitrary free-form shapes is relevant for many quality control applications in different industries. We propose a method for planning the motion of an industrial robot to perform ultrasonic inspection of varying 3D shapes. Our method starts with the calculation of a...
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| 格式: | 文件 |
| 语言: | English |
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MDPI AG
2021-11-01
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| 丛编: | Applied Sciences |
| 主题: | |
| 在线阅读: | https://www.mdpi.com/2076-3417/11/22/10512 |
| _version_ | 1827677500225880064 |
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| author | Kastor Felsner Klaus Schlachter Sebastian Zambal |
| author_facet | Kastor Felsner Klaus Schlachter Sebastian Zambal |
| author_sort | Kastor Felsner |
| collection | DOAJ |
| description | Automatic robotic inspection of arbitrary free-form shapes is relevant for many quality control applications in different industries. We propose a method for planning the motion of an industrial robot to perform ultrasonic inspection of varying 3D shapes. Our method starts with the calculation of a set of sub-paths. These sub-paths are derived from streamlines. The underlying vector field is deduced from local curvature of the inspected geometry. Intermediate robot motions are planned to connect individual sub-paths to obtain a single complete inspection path. Coverage is calculated via ray tracing to simulate the propagation of ultrasound signals. This simulation enables the algorithm to proceed adaptively and to find a good trade-off between path length and coverage. We report experiments for four different geometries. The results indicate that shorter paths are achieved by using ray tracing for adaptive adjustment of streamline density. Our algorithm is tailored to ultrasonic inspection. However, the main concept of exploiting local surface curvature and streamlines for coverage path planning generalizes to other robotic inspection problems. |
| first_indexed | 2024-03-10T05:44:52Z |
| format | Article |
| id | doaj.art-1eb88d65f9ad43899142eb966635029f |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T05:44:52Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-1eb88d65f9ad43899142eb966635029f2023-11-22T22:14:52ZengMDPI AGApplied Sciences2076-34172021-11-0111221051210.3390/app112210512Robotic Coverage Path Planning for Ultrasonic InspectionKastor Felsner0Klaus Schlachter1Sebastian Zambal2PROFACTOR GmbH, Im Stadtgut D1, 4407 Steyr, AustriaPROFACTOR GmbH, Im Stadtgut D1, 4407 Steyr, AustriaPROFACTOR GmbH, Im Stadtgut D1, 4407 Steyr, AustriaAutomatic robotic inspection of arbitrary free-form shapes is relevant for many quality control applications in different industries. We propose a method for planning the motion of an industrial robot to perform ultrasonic inspection of varying 3D shapes. Our method starts with the calculation of a set of sub-paths. These sub-paths are derived from streamlines. The underlying vector field is deduced from local curvature of the inspected geometry. Intermediate robot motions are planned to connect individual sub-paths to obtain a single complete inspection path. Coverage is calculated via ray tracing to simulate the propagation of ultrasound signals. This simulation enables the algorithm to proceed adaptively and to find a good trade-off between path length and coverage. We report experiments for four different geometries. The results indicate that shorter paths are achieved by using ray tracing for adaptive adjustment of streamline density. Our algorithm is tailored to ultrasonic inspection. However, the main concept of exploiting local surface curvature and streamlines for coverage path planning generalizes to other robotic inspection problems.https://www.mdpi.com/2076-3417/11/22/10512robotic inspectioncoverage path planningultrasonic inspectionstreamlineprincipal curvature |
| spellingShingle | Kastor Felsner Klaus Schlachter Sebastian Zambal Robotic Coverage Path Planning for Ultrasonic Inspection Applied Sciences robotic inspection coverage path planning ultrasonic inspection streamline principal curvature |
| title | Robotic Coverage Path Planning for Ultrasonic Inspection |
| title_full | Robotic Coverage Path Planning for Ultrasonic Inspection |
| title_fullStr | Robotic Coverage Path Planning for Ultrasonic Inspection |
| title_full_unstemmed | Robotic Coverage Path Planning for Ultrasonic Inspection |
| title_short | Robotic Coverage Path Planning for Ultrasonic Inspection |
| title_sort | robotic coverage path planning for ultrasonic inspection |
| topic | robotic inspection coverage path planning ultrasonic inspection streamline principal curvature |
| url | https://www.mdpi.com/2076-3417/11/22/10512 |
| work_keys_str_mv | AT kastorfelsner roboticcoveragepathplanningforultrasonicinspection AT klausschlachter roboticcoveragepathplanningforultrasonicinspection AT sebastianzambal roboticcoveragepathplanningforultrasonicinspection |