Method of noncontact calibration of the robotic ultrasonic tomograph

The method of calibration of robotic ultrasonic tomograph with the construction of the trajectory of movement of the robot-manipulator on the object of control by using 3D- scanner is described. This method can significantly accelerate the process of calibration of tomograph and prevent possible displacement of the object during calibration. The algorithm of transition from use of a contact method of calibration of the tomograph to noncontact calibration is offered. Experimental data of application of this algorithm show a positive result: the time of research of object considerably decreases. Results of researches prove the practical relevance of the presented work and high efficiency of application of robotic ultrasonic tomography for nondestructive testing of objects of different forms.