Ultrasonic testing system of dual robot arms and method thereof

An ultrasonic testing method by using an ultrasonic testing system of dual robot arms, comprising:

• a step 1 of calibrating a coordinate system of a tested workpiece for the ultrasonic testing system of dual robot arms, and determining relationships of the coordinate system of the tested workpiece relative to base coordinate systems of the master and slave robot arms;
• a step 2 of performing a trajectory planning on the tested workpiece to generate a trajectory file of discrete points of the coordinate system of the tested workpiece;
• the trajectory file including coordinates and posture data;
• a step 3 of building auxiliary coordinate systems in the coordinate system of the workpiece, using a X-axis constraint method to constrain the X-axes of the auxiliary coordinate systems so that a positive direction of the X-axis of each of the auxiliary coordinate systems is a tangent direction of the trajectory, and using the X-axis constraint method to convert the posture data of the discrete points generated in the step 2 into Euler angles;
• a step 4 of converting the coordinates of the discrete points generated in the step 3 and the converted Euler angles of the discrete points in the step 3 into coordinates and Euler angles of the base coordinate systems of the master and slave robot arms according to the relationships among the coordinate system of the workpiece and base coordinate systems of the master and slave robot arms, and then downloading the resulting coordinates and the Euler angles to the master and slave robot arm controllers, respectively;
• a step 5 of inputting transformation relationship of a tool coordinate system of the master robot arm relative to a flange coordinate system of the master robot arm to the master robot arm controller, and inputting transformation relationship of the tool coordinate system of the slave robot arm in relative to a flange coordinate system of the slave robot arm to the slave robot arm controller;
• and
• a step 6 of bringing the testing system of dual robot arms into an operating state, and controlling, by the master and slave robot arm controllers respectively, the master and slave robot arms having the probes to comprehensively test the tested workpiece.