Pose control and profile tracking with eddy current sensor and robotic arm for NDT applications

IF 4.1 2区材料科学 Q1 MATERIALS SCIENCE, CHARACTERIZATION & TESTING

Ndt & E International Pub Date : 2024-12-26 DOI:10.1016/j.ndteint.2024.103312

Fengkuan Zhu, Xue Bai, Zihan Xia, Tian Meng, Xiaofei Liu, Wuliang Yin, Wuqiang Yang

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引用次数: 0

Abstract

For industrial quality control, non-destructive testing (NDT) of complex metallic parts relies on the accurate knowledge of the object’s surface profile. Currently, this information is typically obtained through design documents or separate dedicated measurements. This study realizes non-contact, accurate reconstruction of metallic surface profiles, eliminating the need for obtaining prior knowledge of the object’s shape and position relative to the sensor. An EC sensor is fixed to the end-effector of a UR5 robotic arm (RA), and its signals are used to control the pose of the RA, keeping its axis perpendicular to the local surface and maintaining a specific lift-off distance. The metallic surface profile can be reconstructed from the scanning trajectory of the RA. In experiments, the surface of a cylindrical metallic pipe is reconstructed without prior information, with the root mean square error (RMSE) of the surface profile being lower than 0.17 mm. An example of automatic tracking and scanning of a tapered exhaust pipe is also provided.

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来源期刊

Ndt & E International 工程技术-材料科学：表征与测试

CiteScore

7.20

自引率

9.50%

发文量

121

审稿时长

55 days

期刊介绍： NDT&E international publishes peer-reviewed results of original research and development in all categories of the fields of nondestructive testing and evaluation including ultrasonics, electromagnetics, radiography, optical and thermal methods. In addition to traditional NDE topics, the emerging technology area of inspection of civil structures and materials is also emphasized. The journal publishes original papers on research and development of new inspection techniques and methods, as well as on novel and innovative applications of established methods. Papers on NDE sensors and their applications both for inspection and process control, as well as papers describing novel NDE systems for structural health monitoring and their performance in industrial settings are also considered. Other regular features include international news, new equipment and a calendar of forthcoming worldwide meetings. This journal is listed in Current Contents.