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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Autores principales:	Kastor Felsner, Klaus Schlachter, Sebastian Zambal
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	robotic inspection coverage path planning ultrasonic inspection streamline principal curvature Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/1eb88d65f9ad43899142eb966635029f
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id	oai:doaj.org-article:1eb88d65f9ad43899142eb966635029f
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spelling	oai:doaj.org-article:1eb88d65f9ad43899142eb966635029f2021-11-25T16:30:21ZRobotic Coverage Path Planning for Ultrasonic Inspection10.3390/app1122105122076-3417https://doaj.org/article/1eb88d65f9ad43899142eb966635029f2021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10512https://doaj.org/toc/2076-3417Automatic 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.Kastor FelsnerKlaus SchlachterSebastian ZambalMDPI AGarticlerobotic inspectioncoverage path planningultrasonic inspectionstreamlineprincipal curvatureTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10512, p 10512 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	robotic inspection coverage path planning ultrasonic inspection streamline principal curvature Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	robotic inspection coverage path planning ultrasonic inspection streamline principal curvature Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Kastor Felsner Klaus Schlachter Sebastian Zambal Robotic Coverage Path Planning for Ultrasonic Inspection
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.
format	article
author	Kastor Felsner Klaus Schlachter Sebastian Zambal
author_facet	Kastor Felsner Klaus Schlachter Sebastian Zambal
author_sort	Kastor Felsner
title	Robotic Coverage Path Planning for Ultrasonic Inspection
title_short	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_sort	robotic coverage path planning for ultrasonic inspection
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/1eb88d65f9ad43899142eb966635029f
work_keys_str_mv	AT kastorfelsner roboticcoveragepathplanningforultrasonicinspection AT klausschlachter roboticcoveragepathplanningforultrasonicinspection AT sebastianzambal roboticcoveragepathplanningforultrasonicinspection
_version_	1718413122420604928

Robotic Coverage Path Planning for Ultrasonic Inspection

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