超音波エコー特性を利用した配管診断ロボットマニピュレータの開発(機械力学,計測,自動制御)

概要

論文の詳細を見る
In order to detect corrosions on the inside of pipes accurately, it is very important to set the posture of the ultrasonic probe normal to the surface of the pipes. It is indispensable for an inspection robot which moves on pipe lines autonomously to have an ability adjusting the posture of the probe. We propose an algorithm to adjust probe posture, which uses a characteristic of ultrasonic echo depending on posture of probes. In this paper, we will explain about the algorithm and describe about a posture adjusting experiment with a five DOF of robot manipulator newly designed. And we will propose a method to make a pipe-corrosion-map with pipe thickness data that are measured by automatic inspection robot.
社団法人日本機械学会の論文
2003-12-25