Robotic path planning for non-destructive testing through RoboNDT

C Mineo, S G Pierce, J Riise, P I Nicholson, I Cooper

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

The requirement to increase inspection speeds for non-destructive testing (NDT) is common to many manufacturers. The prevalence of complex curved surfaces in modern products provides motivation for the use of 6 axis robots in these inspections. The techniques and issues associated with conventional manual inspection techniques and automated systems for the inspection of large complex surfaces were reviewed. This paper presents a new MATLAB based software solution (RoboNDT), aiming to fulfil the requirements of robotized NDT inspection. RoboNDT enables flexible trajectory path planning to be accomplished for the inspection of complex curved surfaces. This newly developed software is capable of complex path planning, obstacle avoidance, and external synchronization between robots and connected NDT systems. Comparative accuracy experiments were undertaken to evaluate the path accuracy produced by the software when inspecting a curved 0.5 m2 and a 1.6 m2 surface using a KUKA KR16 L6-2 robot. The advantages of this software over conventional off-line-programming approaches are highlighted. By implementing full external control of the robotic hardware, it has been possible to synchronise the NDT data collection with positions at all points along the path. This approach facilitates the future development of additional functionality, suited to both fixed and mobile robot NDT inspection solutions.
LanguageEnglish
Publication statusPublished - 10 Sep 2015
Event54th BINDT Annual Conference - Telford, United Kingdom
Duration: 8 Sep 201510 Sep 2015

Conference

Conference54th BINDT Annual Conference
Abbreviated titleBINDT 2015
CountryUnited Kingdom
CityTelford
Period8/09/1510/09/15

Fingerprint

Motion planning
Nondestructive examination
Robotics
Inspection
Robots
Collision avoidance
Mobile robots
MATLAB
Synchronization
Trajectories
Hardware
Experiments

Keywords

  • non destructive testing
  • RoboNDT
  • NDT inspection

Cite this

Mineo, C., Pierce, S. G., Riise, J., Nicholson, P. I., & Cooper, I. (2015). Robotic path planning for non-destructive testing through RoboNDT. Paper presented at 54th BINDT Annual Conference, Telford, United Kingdom.
Mineo, C ; Pierce, S G ; Riise, J ; Nicholson, P I ; Cooper, I. / Robotic path planning for non-destructive testing through RoboNDT. Paper presented at 54th BINDT Annual Conference, Telford, United Kingdom.
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Mineo, C, Pierce, SG, Riise, J, Nicholson, PI & Cooper, I 2015, 'Robotic path planning for non-destructive testing through RoboNDT' Paper presented at 54th BINDT Annual Conference, Telford, United Kingdom, 8/09/15 - 10/09/15, .

Robotic path planning for non-destructive testing through RoboNDT. / Mineo, C; Pierce, S G; Riise, J; Nicholson, P I; Cooper, I.

2015. Paper presented at 54th BINDT Annual Conference, Telford, United Kingdom.

Research output: Contribution to conferencePaper

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Mineo C, Pierce SG, Riise J, Nicholson PI, Cooper I. Robotic path planning for non-destructive testing through RoboNDT. 2015. Paper presented at 54th BINDT Annual Conference, Telford, United Kingdom.