INTELLIGENT TESTING METHOD OF NONDESTRUCTIVE ROBOT TESTING BASED ON VIRTUAL REALITY TECHNOLOGY

摘要

An intelligent testing method of a non-destructive testing robot based on virtual reality technology, the method comprises the following steps:(1) a non-destructive testing robot for a non-destructive test is installed to a preset position inside the reactor pressure vessel;(2) the position calibration of each degree-of-freedom movement axis is performed after each degree-of-freedom movement axis of the non-destructive testing robot is recovered to an initial state, and a global coordinate system and an axle coordinate system of each degree-of-freedom movement axis are constructed;(3) a corresponding relationship between the simulation model and the actual device;(4) the non-destructive testing robot simulation model transform the position and posture in three-dimension virtual environment on basis of the real-time position and posture information feedback values of each degree-of-freedom movement axle of the non-destructive testing robot acquired thereby, and synchronous movement of the non-destructive testing robot is virtually displayed and controlled for a non-destructive test.