Crack detection using contact sensing

Author

Patil, Ra Ju ; Basu, Anup ; Zhang, Hong

Author_Institution

Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada

fYear

1994

fDate

8-13 May 1994

Firstpage

1772

Abstract

In this paper, we describe a robotic system employing contact sensing to detect the presence of cracks in surfaces. Automated detection of cracks in surfaces has many practical applications. Tasks such as inspection of underground pipes carrying fluids and the inspection of ship hulls are examples of jobs that are difficult for human operators. Robots equipped with vision are ill-suited for such tasks because of low visibility and fluid disturbance. Contact sensing is shown to provide a viable alternative for surface inspection tasks in situations where images cannot be obtained. The mathematical modeling of the system, some simulations and experimental results are provided

Keywords

automatic test equipment; crack detection; detectors; force measurement; manipulators; potentiometers; contact sensing; crack detection; force sensor; linear potentiometer; mathematical modeling; parameter estimation; robotic system; surface inspection; Force sensors; Inspection; Manipulators; Marine vehicles; Probes; Robot sensing systems; Robotics and automation; Rough surfaces; Surface cracks; Surface roughness;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.351336

Filename

351336