Research on Optimization of Trajectory Planning for Ultrasonic Inspection

摘要

the trajectory planning for a 5-d.o.f. ultrasonic inspection manipulator from the origin pose to the aimed one to improve the efficiency of feature point selection during the ultrasonic inspection of surface entity with high stability of probe was discussed in this paper. The objective function to minimize the execution time was firstly proposed considering the upper bounds on the absolute values of velocity, acceleration and jerk including the torque of joint actuators. Then a quintic polynomial parameterized with the time of trajectory propagation was taken to fit the trajectory of ultrasonic detector. The D-H notation and NewtonEuler were applied to set up described the constraints respectively. Finally the simulation and analysis of this algorithm for ultrasonic manipulator were discussed, which satisfies the project requirements and obviously improves the efficiency and stabilization of the ultrasonic inspection