Ultrasonic transmission testing of twin-robots coordinated control

This paper is intended primarily for twin-robot ultrasonic transmission scanning system. For curved variable thickness specimen, the angle between the transducer and beam propagation direction can´t be ignored through experimental analysis. The introduction of trajectory planning calculation method for curved variable thickness specimen is used to plan the transducer position and orientation. The triggering transducer position and orientation was planned by regular method firstly, the receiving transducer position and orientation was calculated by beam propagation direction. The system includes a twin-robot flexible motion unit as motion. A new twin-robot coordinate control method was proposed based on coupling kinematics constrained analysis.