Motion Control And Simulation Of Ultrasonic Testing Manipulator

Automatic ultrasonic non-detected testing is a significant development direction ofultrasonic testing. However, its current testing objects are very limited, which mainly focuson the workpieces with simple shape such as plane workpieces, cylinders, and surface, andless attention was paid on the curved surface workpieces with complex shape and variablethickness, such as milling cutter and blade. Applying multi-axis manipulator into non-detected testing field is expected to solve the effective testing for complex surface workpieces.At present, commercial manipulator control system is not open enough to meet specialdemands, for instance, unavailability of structural transformation, and technical problemssynchronized with ultrasonic testing equipment. Therefore, in this paper, based on thehardware structure of MOTOMAN MA1400manipulator, the motion control and off-linesimulatingsystemofultrasonictestingmanipulatorwasdeveloped.The‘PC+motioncontrolcard’ was chose in this system. Turbo PMAC2-Clipper card was selected as the key part ofmanipulator control system, and Yaskawa SMG servo motors were used to build up thehardware system of the ultrasonic testing manipulator.In order to control the manipulator, kinematic analysis is the key step. Considering thestructural features of manipulator MOTOMAN MA1400and Pieper principle, it is foundthat there is no analytical solution. Adopting the combination of geometric approach anditerative method, inverse kinematics solution of manipulator is solved. On this basis, theresearch in this paper is going to achieve the motion control of manipulator, and at the sametime to establish the software control part of ultrasonic testing for manipulator as follows:(1)build motion simulation system of ultrasonic testing manipulator based on Open CASCADE;(2) build PMAC motion control system based on PCOMMSERVER dynamic library. Theformer is to achieve a positive inverse kinematics calculation and manipulator motionsimulation, while the latter is to achieve motion control of manipulator. And finally thesystem was verified by experiments.