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Kinematic constraint analysis in a twin-robot system for curved-surface nondestructive testing
Purpose – Nondestructive testing based on cooperative twin-robot technology is a significant issue for curved-surface inspection. To achieve this purpose, this paper aims to present a kinematic constraint relation method relative to two cooperative robots. Design/methodology/approach – The transform...
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| Published in: | Industrial robot 2016-03, Vol.43 (2), p.172-180 |
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| Main Authors: | , , , , , |
| Format: | Article |
| Language: | English |
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| cited_by | cdi_FETCH-LOGICAL-c378t-68d976a3b9254e28b1a03a0bb638f3d601f4f521ef2068235daecee19d447d743 |
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| cites | cdi_FETCH-LOGICAL-c378t-68d976a3b9254e28b1a03a0bb638f3d601f4f521ef2068235daecee19d447d743 |
| container_end_page | 180 |
| container_issue | 2 |
| container_start_page | 172 |
| container_title | Industrial robot |
| container_volume | 43 |
| creator | Lu, Zongxing Xu, Chunguang Pan, Qinxue Xiao, Dingguo Meng, Fanwu Hao, Juan |
| description | Purpose
– Nondestructive testing based on cooperative twin-robot technology is a significant issue for curved-surface inspection. To achieve this purpose, this paper aims to present a kinematic constraint relation method relative to two cooperative robots.
Design/methodology/approach
– The transformation relation of the twin-robot base frame can be determined by driving the two robots for a series of handclasp operations on three points that are noncollinear in space. The transformation relation is used to solve the cooperative motion problem of the twin-robot system. Cooperative motions are divided into coupled and combined synchronous motions on the basis of the testing tasks. The position and orientation constraints for the two motion modes are also explored.
Findings
– Representative experiments between two industrial robots are conducted to validate the theoretical developments in kinematic constraint analysis. Artificial defects are clearly visible in the C-scan results, thereby verifying the validity and the effectiveness of the proposed method.
Originality/value
– The transformation relation of the twin-robot base frame is built under a series of handclasp operations. The position and orientation constraints for the coupled and combined synchronous motions are explored. Theoretical foundations of trajectory planning method for the transmitting and receiving transducers of the cooperative twin-robot system are presented. |
| doi_str_mv | 10.1108/IR-09-2015-0169 |
| format | article |
| fullrecord | <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_crossref_primary_10_1108_IR_09_2015_0169</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>4003360311</sourcerecordid><originalsourceid>FETCH-LOGICAL-c378t-68d976a3b9254e28b1a03a0bb638f3d601f4f521ef2068235daecee19d447d743</originalsourceid><addsrcrecordid>eNptkcFLHTEQh0Npoa_ac68BL71EJ5vdbHIUqfqoUJAWPBmy2VmJ7CaaZJX335vH66XS08zh-80w3xDyjcMp56DOtrcMNGuAdwy41B_IhvedYl2v-UeyAd4KpjW_-0y-5PwIAJ3kckPuf_qAiy3eURdDLsn6UKgNdt5ln6kP1NLy6gNLcYiF5l0uuNApJurW9IIjy2uarEMaYhix5ldX_AvSUnsfHo7Jp8nOGb_-rUfkz-WP3xfX7ObX1fbi_IY50avCpBp1L60YdNO12KiBWxAWhkEKNYlRAp_aqWs4Tg1I1YhutOgQuR7bth_7VhyR74e5Tyk-r3W3WXx2OM82YFyz4QoUSFFlVPTkHfoY11QPrlTfSwmaa1mpswPlUsw54WSekl9s2hkOZu_bbG8NaLP3bfa-a-L0kMAFk53H_wT-eZB4A4qYgZg</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>1776609196</pqid></control><display><type>article</type><title>Kinematic constraint analysis in a twin-robot system for curved-surface nondestructive testing</title><source>ABI/INFORM global</source><source>Emerald:Jisc Collections:Emerald Subject Collections HE and FE 2024-2026:Emerald Premier (reading list)</source><source>Emerald Backfiles</source><creator>Lu, Zongxing ; Xu, Chunguang ; Pan, Qinxue ; Xiao, Dingguo ; Meng, Fanwu ; Hao, Juan</creator><creatorcontrib>Lu, Zongxing ; Xu, Chunguang ; Pan, Qinxue ; Xiao, Dingguo ; Meng, Fanwu ; Hao, Juan</creatorcontrib><description>Purpose
– Nondestructive testing based on cooperative twin-robot technology is a significant issue for curved-surface inspection. To achieve this purpose, this paper aims to present a kinematic constraint relation method relative to two cooperative robots.
Design/methodology/approach
– The transformation relation of the twin-robot base frame can be determined by driving the two robots for a series of handclasp operations on three points that are noncollinear in space. The transformation relation is used to solve the cooperative motion problem of the twin-robot system. Cooperative motions are divided into coupled and combined synchronous motions on the basis of the testing tasks. The position and orientation constraints for the two motion modes are also explored.
Findings
– Representative experiments between two industrial robots are conducted to validate the theoretical developments in kinematic constraint analysis. Artificial defects are clearly visible in the C-scan results, thereby verifying the validity and the effectiveness of the proposed method.
Originality/value
– The transformation relation of the twin-robot base frame is built under a series of handclasp operations. The position and orientation constraints for the coupled and combined synchronous motions are explored. Theoretical foundations of trajectory planning method for the transmitting and receiving transducers of the cooperative twin-robot system are presented.</description><identifier>ISSN: 0143-991X</identifier><identifier>EISSN: 1758-5791</identifier><identifier>DOI: 10.1108/IR-09-2015-0169</identifier><identifier>CODEN: IDRBAT</identifier><language>eng</language><publisher>Bedford: Emerald Group Publishing Limited</publisher><subject>Automation ; Calibration ; Cooperation ; Engineering ; Industrial engineering, design & manufacturing ; Industrial robots ; Kinematics ; Lagrange multiplier ; Manufacturing engineering ; Methods ; Nondestructive testing ; Orientation ; Robots ; Transformations</subject><ispartof>Industrial robot, 2016-03, Vol.43 (2), p.172-180</ispartof><rights>Emerald Group Publishing Limited</rights><rights>Emerald Group Publishing Limited 2016</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c378t-68d976a3b9254e28b1a03a0bb638f3d601f4f521ef2068235daecee19d447d743</citedby><cites>FETCH-LOGICAL-c378t-68d976a3b9254e28b1a03a0bb638f3d601f4f521ef2068235daecee19d447d743</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://www.emerald.com/insight/content/doi/10.1108/IR-09-2015-0169/full/pdf$$EPDF$$P50$$Gemerald$$H</linktopdf><linktohtml>$$Uhttps://www.proquest.com/docview/1776609196?pq-origsite=primo$$EHTML$$P50$$Gproquest$$H</linktohtml><link.rule.ids>314,776,780,2359,11667,27901,27902,36037,36038,44339,53185,53313</link.rule.ids></links><search><creatorcontrib>Lu, Zongxing</creatorcontrib><creatorcontrib>Xu, Chunguang</creatorcontrib><creatorcontrib>Pan, Qinxue</creatorcontrib><creatorcontrib>Xiao, Dingguo</creatorcontrib><creatorcontrib>Meng, Fanwu</creatorcontrib><creatorcontrib>Hao, Juan</creatorcontrib><title>Kinematic constraint analysis in a twin-robot system for curved-surface nondestructive testing</title><title>Industrial robot</title><description>Purpose
– Nondestructive testing based on cooperative twin-robot technology is a significant issue for curved-surface inspection. To achieve this purpose, this paper aims to present a kinematic constraint relation method relative to two cooperative robots.
Design/methodology/approach
– The transformation relation of the twin-robot base frame can be determined by driving the two robots for a series of handclasp operations on three points that are noncollinear in space. The transformation relation is used to solve the cooperative motion problem of the twin-robot system. Cooperative motions are divided into coupled and combined synchronous motions on the basis of the testing tasks. The position and orientation constraints for the two motion modes are also explored.
Findings
– Representative experiments between two industrial robots are conducted to validate the theoretical developments in kinematic constraint analysis. Artificial defects are clearly visible in the C-scan results, thereby verifying the validity and the effectiveness of the proposed method.
Originality/value
– The transformation relation of the twin-robot base frame is built under a series of handclasp operations. The position and orientation constraints for the coupled and combined synchronous motions are explored. Theoretical foundations of trajectory planning method for the transmitting and receiving transducers of the cooperative twin-robot system are presented.</description><subject>Automation</subject><subject>Calibration</subject><subject>Cooperation</subject><subject>Engineering</subject><subject>Industrial engineering, design & manufacturing</subject><subject>Industrial robots</subject><subject>Kinematics</subject><subject>Lagrange multiplier</subject><subject>Manufacturing engineering</subject><subject>Methods</subject><subject>Nondestructive testing</subject><subject>Orientation</subject><subject>Robots</subject><subject>Transformations</subject><issn>0143-991X</issn><issn>1758-5791</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2016</creationdate><recordtype>article</recordtype><sourceid>M0C</sourceid><recordid>eNptkcFLHTEQh0Npoa_ac68BL71EJ5vdbHIUqfqoUJAWPBmy2VmJ7CaaZJX335vH66XS08zh-80w3xDyjcMp56DOtrcMNGuAdwy41B_IhvedYl2v-UeyAd4KpjW_-0y-5PwIAJ3kckPuf_qAiy3eURdDLsn6UKgNdt5ln6kP1NLy6gNLcYiF5l0uuNApJurW9IIjy2uarEMaYhix5ldX_AvSUnsfHo7Jp8nOGb_-rUfkz-WP3xfX7ObX1fbi_IY50avCpBp1L60YdNO12KiBWxAWhkEKNYlRAp_aqWs4Tg1I1YhutOgQuR7bth_7VhyR74e5Tyk-r3W3WXx2OM82YFyz4QoUSFFlVPTkHfoY11QPrlTfSwmaa1mpswPlUsw54WSekl9s2hkOZu_bbG8NaLP3bfa-a-L0kMAFk53H_wT-eZB4A4qYgZg</recordid><startdate>20160321</startdate><enddate>20160321</enddate><creator>Lu, Zongxing</creator><creator>Xu, Chunguang</creator><creator>Pan, Qinxue</creator><creator>Xiao, Dingguo</creator><creator>Meng, Fanwu</creator><creator>Hao, Juan</creator><general>Emerald Group Publishing Limited</general><scope>AAYXX</scope><scope>CITATION</scope><scope>0U~</scope><scope>1-H</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7WY</scope><scope>7WZ</scope><scope>7XB</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BEZIV</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>F28</scope><scope>FR3</scope><scope>F~G</scope><scope>GNUQQ</scope><scope>GUQSH</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K6~</scope><scope>K7-</scope><scope>L.-</scope><scope>L.0</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0C</scope><scope>M0N</scope><scope>M2O</scope><scope>M2P</scope><scope>M7S</scope><scope>MBDVC</scope><scope>P5Z</scope><scope>P62</scope><scope>PHGZM</scope><scope>PHGZT</scope><scope>PKEHL</scope><scope>PQBIZ</scope><scope>PQEST</scope><scope>PQGLB</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PTHSS</scope><scope>Q9U</scope></search><sort><creationdate>20160321</creationdate><title>Kinematic constraint analysis in a twin-robot system for curved-surface nondestructive testing</title><author>Lu, Zongxing ; Xu, Chunguang ; Pan, Qinxue ; Xiao, Dingguo ; Meng, Fanwu ; Hao, Juan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c378t-68d976a3b9254e28b1a03a0bb638f3d601f4f521ef2068235daecee19d447d743</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2016</creationdate><topic>Automation</topic><topic>Calibration</topic><topic>Cooperation</topic><topic>Engineering</topic><topic>Industrial engineering, design & manufacturing</topic><topic>Industrial robots</topic><topic>Kinematics</topic><topic>Lagrange multiplier</topic><topic>Manufacturing engineering</topic><topic>Methods</topic><topic>Nondestructive testing</topic><topic>Orientation</topic><topic>Robots</topic><topic>Transformations</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Lu, Zongxing</creatorcontrib><creatorcontrib>Xu, Chunguang</creatorcontrib><creatorcontrib>Pan, Qinxue</creatorcontrib><creatorcontrib>Xiao, Dingguo</creatorcontrib><creatorcontrib>Meng, Fanwu</creatorcontrib><creatorcontrib>Hao, Juan</creatorcontrib><collection>CrossRef</collection><collection>Global News & ABI/Inform Professional</collection><collection>Trade PRO</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>ABI-INFORM Complete</collection><collection>ABI/INFORM Global (PDF only)</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies & Aerospace Database (1962 - current)</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>ProQuest Business Premium Collection</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ABI/INFORM Global (Corporate)</collection><collection>ProQuest Central Student</collection><collection>Research Library Prep</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Business Collection</collection><collection>Computer Science Database</collection><collection>ABI/INFORM Professional Advanced</collection><collection>ABI/INFORM Professional Standard</collection><collection>ProQuest Engineering Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ABI/INFORM global</collection><collection>Computing Database</collection><collection>ProQuest research library</collection><collection>ProQuest Science Journals</collection><collection>Engineering Database</collection><collection>Research Library (Corporate)</collection><collection>ProQuest advanced technologies & aerospace journals</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>ProQuest Central (New)</collection><collection>ProQuest One Academic (New)</collection><collection>ProQuest One Academic Middle East (New)</collection><collection>One Business (ProQuest)</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Applied & Life Sciences</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>Engineering collection</collection><collection>ProQuest Central Basic</collection><jtitle>Industrial robot</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Lu, Zongxing</au><au>Xu, Chunguang</au><au>Pan, Qinxue</au><au>Xiao, Dingguo</au><au>Meng, Fanwu</au><au>Hao, Juan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Kinematic constraint analysis in a twin-robot system for curved-surface nondestructive testing</atitle><jtitle>Industrial robot</jtitle><date>2016-03-21</date><risdate>2016</risdate><volume>43</volume><issue>2</issue><spage>172</spage><epage>180</epage><pages>172-180</pages><issn>0143-991X</issn><eissn>1758-5791</eissn><coden>IDRBAT</coden><abstract>Purpose
– Nondestructive testing based on cooperative twin-robot technology is a significant issue for curved-surface inspection. To achieve this purpose, this paper aims to present a kinematic constraint relation method relative to two cooperative robots.
Design/methodology/approach
– The transformation relation of the twin-robot base frame can be determined by driving the two robots for a series of handclasp operations on three points that are noncollinear in space. The transformation relation is used to solve the cooperative motion problem of the twin-robot system. Cooperative motions are divided into coupled and combined synchronous motions on the basis of the testing tasks. The position and orientation constraints for the two motion modes are also explored.
Findings
– Representative experiments between two industrial robots are conducted to validate the theoretical developments in kinematic constraint analysis. Artificial defects are clearly visible in the C-scan results, thereby verifying the validity and the effectiveness of the proposed method.
Originality/value
– The transformation relation of the twin-robot base frame is built under a series of handclasp operations. The position and orientation constraints for the coupled and combined synchronous motions are explored. Theoretical foundations of trajectory planning method for the transmitting and receiving transducers of the cooperative twin-robot system are presented.</abstract><cop>Bedford</cop><pub>Emerald Group Publishing Limited</pub><doi>10.1108/IR-09-2015-0169</doi><tpages>9</tpages></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0143-991X |
| ispartof | Industrial robot, 2016-03, Vol.43 (2), p.172-180 |
| issn | 0143-991X 1758-5791 |
| language | eng |
| recordid | cdi_crossref_primary_10_1108_IR_09_2015_0169 |
| source | ABI/INFORM global; Emerald:Jisc Collections:Emerald Subject Collections HE and FE 2024-2026:Emerald Premier (reading list); Emerald Backfiles |
| subjects | Automation Calibration Cooperation Engineering Industrial engineering, design & manufacturing Industrial robots Kinematics Lagrange multiplier Manufacturing engineering Methods Nondestructive testing Orientation Robots Transformations |
| title | Kinematic constraint analysis in a twin-robot system for curved-surface nondestructive testing |
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