2016
DOI: 10.1016/j.rcim.2015.05.003
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Robotic path planning for non-destructive testing – A custom MATLAB toolbox approach

Abstract: a b s t r a c tThe requirement to increase inspection speeds for non-destructive testing (NDT) of composite aerospace parts is common to many manufacturers. The prevalence of complex curved surfaces in the industry provides motivation for the use of 6 axis robots in these inspections. The purpose of this paper is to present work undertaken for the development of a KUKA robot manipulator based automated NDT system. A new software solution is presented that enables flexible trajectory planning to be accomplished… Show more

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Cited by 93 publications
(61 citation statements)
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“…One of the classical solutions that has been established for decades is to train an NDT inspector on various inspection methods, however it is relatively expensive in matter of time and costs to train human resources until the certification is reached. To tackle this problem, two mainstreams of automated SDI has been proposed: the robotics NDT [6] and Structural Health Monitoring (SHM) [7]. While robotics NDT typically means robot-assisted non-destructive inspection (NDI) by employing NDI instruments, in SHM the NDI instruments normally become an integral part of the structure itself [8].…”
Section: Structural Diagnostic In Aircraft Maintenancementioning
confidence: 99%
“…One of the classical solutions that has been established for decades is to train an NDT inspector on various inspection methods, however it is relatively expensive in matter of time and costs to train human resources until the certification is reached. To tackle this problem, two mainstreams of automated SDI has been proposed: the robotics NDT [6] and Structural Health Monitoring (SHM) [7]. While robotics NDT typically means robot-assisted non-destructive inspection (NDI) by employing NDI instruments, in SHM the NDI instruments normally become an integral part of the structure itself [8].…”
Section: Structural Diagnostic In Aircraft Maintenancementioning
confidence: 99%
“…The robot arm was programmed to trace a quarter hemisphere around the sample, at a distance of 100, 200, 300 and 400 mm. A loudspeaker was mounted on the robot arm, and the execution of the robot path was controlled by custom MATLAB code interfaced with the robot controller through the KUKA Robot Sensor Interface (RSI) [31]. The data acquisition was synchronized with the progression of the robot path.…”
Section: Mapping the Stop Bandmentioning
confidence: 99%
“…From data acquired during this first scan, a shape scan step is performed to retrieve the approximate shape of the object. Mineo et al [18] develop a MATLAB toolbox named RoboNDT in order to generate the raster scan paths for surface inspection by the 6-axis industrial robots. Starting from the triangular mesh imported from the CAD model, the idea is to generate a raster scan path defined as a succession of curves and associated normal vectors.…”
Section: Scan Path Planningmentioning
confidence: 99%