Singularity Analysis of Scanning Trajectory and Avoidance Method for Ultrasonic Testing Robot

The combination of robots and non-destructive testing technology promotes the development of automatic testing systems in high flexibility, high efficiency, and high accuracy. This paper uses the dexterity index to analyze the singular configuration of the robot scanning trajectory and proposes two methods to avoid the singularity. One is to change the position of the workpiece and re-planning the trajectory. The other is to add a redundant degree of freedom so that the robot can select more than one path to move. Ultrasonic scanning experiments show that the singularity analysis of the scanning trajectory can guarantee that the scanning process is stable and the equipment is safe.