Manipulator Control Technology Facing To The Testing

NDT is related to the quality control of key technology of modern industry,which is the important way to ensure product quality and performance and stable the production process.Nondestructive testing technology has played an important role in the product design stage,development stage,production and use phases.The combination of NDT technologies and robots technologies is one of the important directions in NDT field.NDT Automatic CNC system is very effective in improving the efficiency of testing.It is playing an increasingly important role in reduce the labor intensity of inspection personnel,especially in large quantities in the workpiece detection.NDT robot system can achieve high efficiency of complex surfaces,high-precision automatic detection,with considerable practical and innovative.It also has a wealth of research value.Therefore,this paper based on MOTOMAN MH6 series arrangement of six degrees of freedom manipulator,design and research of the manipulator system facing to the Testing.We chose "PC + motion control card" control method,and design interactive interface comprising motion control and motion simulation.Yaskawa robot D-H parameters used in the solution of the inverse problem of the analysis,we prepared a solution of the inverse algorithm to apply to the six degrees of freedom manipulator motion control.In addition,basing on MATLAB simulation analysis robot servo loop,we complete PID tuning parameters in the PMAC motion control card debugging interface,the position of each axis motor control precision of been verified,and the fuzzy adaptive PID control simulation carried out relevant studies to verify the feasibility of the control system.Finally,we apply the robot motion control system to non-destructive testing.The initial realization of its non-destructive detection of practical value has come true and laid the foundation for further research and development.