Title :
Crack detection using contact sensing
Author :
Patil, Ra Ju ; Basu, Anup ; Zhang, Hong
Author_Institution :
Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
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;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351336