Detection system of excess matter in hole of complex workpiece based on manipulator control

In order to effectively detect excess matter in the aperture of complex workpiece, this paper proposes a detection system of excess matter in the hole of complex workpiece based on the motion path planning algorithm of robot arm. The system modeled the motion parameters of the robot arm and used the inverse motion analysis method to calculate the motion angles of each joint of the robot arm, so as to achieve accurate control of the motion of the robot arm. Then, the coordinate position of the complex workpiece hole was calculated through the homogeneous matrix transformation, and the robot arm holding the endoscope was controlled to move to the corresponding position of each hole of the complex workpiece. Identify and detect burrs and residues in holes, and generate inspection reports. The test results show that the system is superior to the existing methods in terms of detection speed and accuracy, and has high detection accuracy and adaptability. It can be effectively applied in the actual production process, and provides a new technical means for the quality control of the manufacturing industry.