Design of NDT robot control system

The development of automated NDT is more and more fast, in order to better serve the needs of NDT, we independently research robot system facing to the test, and achieve it's preliminary application. Basing on MOTOMAN-MH6 six degrees of freedom robot, this paper sets up “computer + PMAC + manipulation motor” motion control system, achieves to three closed-loop system in order to meet the exact requirements of the position control. Basing on D-H parameters, we set up robot coordinate system and kinematics model, research and write algorithm which is in line with the guidelines applicable to pieper six degrees of freedom serial robot. In addition to this, we call Pcommserver and Opencascade dynamic link library to design and write “motion control + motion simulation” interface in the host computer, which can meet the needs of human-computer interaction. Finally, the robot system facing to the testing is applied to parts of the NDT projects, and is preliminary proved it's feasibility and reliability.