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Related Experiment Video

Updated: Jul 11, 2025

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

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Tool Frame Calibration for Robot-Assisted Ultrasonic Testing.

Hanming Zhang¹, Jingpin Wang¹, Canzhi Guo²

¹School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100041, China.

Sensors (Basel, Switzerland)

|November 14, 2023

Summary

This summary is machine-generated.

This study introduces a novel ultrasonic testing tool frame calibration method for robots submerged in water. The technique enhances precision by using ultrasound to measure errors without external devices.

Keywords:

calibration robot-assisted tool frame ultrasonic testing

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Area of Science:

Robotics
Non-destructive Testing
Ultrasonic Testing

Background:

Traditional tool frame calibration methods are unsuitable for submerged robots in ultrasonic testing.
Underwater environments pose challenges for existing calibration techniques in robotic applications.

Purpose of the Study:

To present an effective tool frame calibration method for ultrasonic testing robots operating underwater.
To improve the precision of ultrasonic testing by addressing tool frame errors in submerged robotic systems.

Main Methods:

Utilized a reflector in water to measure distances between incidence points and the transducer's tool center point (TCP).
Recorded end flange positions and poses via the robot controller.
Applied an optimization method to calculate tool frame position and pose errors relative to the end flange.

Main Results:

The method was successfully implemented in an ultrasonic testing system.
Calibration using 100 incidence points significantly improved transducer assembly accuracy.
A noticeable increase in pulse amplitude post-calibration confirmed the method's effectiveness.

Conclusions:

Ultrasonic transducers can serve as a measuring tool for robot calibration.
A novel tool frame calibration method using ultrasound is proposed for underwater robotic testing.
The study concludes that tool frames can be effectively calibrated using ultrasound, eliminating the need for external measuring devices.