About: New Robotic Architecture for NDT Applications

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Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://www.ifac-papersonline.net/Detailed/69011.html
Description	The paper deals with the new architecture of the 4 degrees of freedom manipulator for Non-Destructive Testing (NDT) of the pipe welds of complex geometries. The main contribution is to overcome the known disadvantages resulting from using standard robotic architectures (universal industrial or single purposes special manipulators) regarding e.g. space requirements or limited applicability. The direct and inverse kinematic is solved. The singularity configuration analysis of the manipulator is derived in the sense of finding implicit description of the varieties in the task space. It makes possible to easily deal with singular configurations during the end-effector trajectory planning. In order to use the proposed manipulator for NDT of pipe welds the trajectory generators are introduced. The circumferential, elbow, longitudinal and branch weld are taken into account. It is shown that the trajectory parametrization of the first three types of welds can be found easily. But for the branch weld there are some drawbacks regarding unnatural parametrization of the branch weld primitives (ellipses, Steinmetz solid). Therefore the new numerical algorithm is developed and used to ensure the requirements of the correct arc lengths are met. The algorithm is compared with its simplified version where equidistant spacing of the parametrization parameter is considered. The paper deals with the new architecture of the 4 degrees of freedom manipulator for Non-Destructive Testing (NDT) of the pipe welds of complex geometries. The main contribution is to overcome the known disadvantages resulting from using standard robotic architectures (universal industrial or single purposes special manipulators) regarding e.g. space requirements or limited applicability. The direct and inverse kinematic is solved. The singularity configuration analysis of the manipulator is derived in the sense of finding implicit description of the varieties in the task space. It makes possible to easily deal with singular configurations during the end-effector trajectory planning. In order to use the proposed manipulator for NDT of pipe welds the trajectory generators are introduced. The circumferential, elbow, longitudinal and branch weld are taken into account. It is shown that the trajectory parametrization of the first three types of welds can be found easily. But for the branch weld there are some drawbacks regarding unnatural parametrization of the branch weld primitives (ellipses, Steinmetz solid). Therefore the new numerical algorithm is developed and used to ensure the requirements of the correct arc lengths are met. The algorithm is compared with its simplified version where equidistant spacing of the parametrization parameter is considered. (en)
Title	New Robotic Architecture for NDT Applications New Robotic Architecture for NDT Applications (en)
skos:prefLabel	New Robotic Architecture for NDT Applications New Robotic Architecture for NDT Applications (en)
skos:notation	RIV/49777513:23520/14:43923973!RIV15-TA0-23520___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(ED1.1.00/02.0090), P(TA01020457), S
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	Švejda, Martin
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Západočeská univerzita v Plzni / Fakulta aplikovaných věd
http://linked.open...dnocenehoVysledku	32488
http://linked.open...ai/riv/idVysledku	RIV/49777513:23520/14:43923973
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	NDT Applications; Robotic Architecture (en)
http://linked.open.../riv/klicoveSlovo	NDT Applications Robotic Architecture
http://linked.open...ontrolniKodProRIV	[D8AB8F3145E7]
http://linked.open...v/mistoKonaniAkce	Cape Town, South Africa
http://linked.open...i/riv/mistoVydani	Cape Town, South Africa
http://linked.open...i/riv/nazevZdroje	IFAC Proceedings Volumes (IFAC-PapersOnline)
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	1 (xsd:int)
http://linked.open...vavai/riv/projekt	Research, development and evaluation of a new technology for modern weld diagnostics in nuclear power plants NTIS - New Technologies for Information Society
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Švejda, Martin
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2014-08-24 (xsd:date)
issn	1474-6670
number of pages	6 (xsd:int)
http://bibframe.org/vocab/doi	10.3182/20140824-6-ZA-1003.00989
http://purl.org/ne...btex#hasPublisher	International Federation of Automatic Control
https://schema.org/isbn	978-3-902823-62-5
http://localhost/t...ganizacniJednotka	23520

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