TY - GEN
T1 - Improvements of robot positioning accuracy and drilling perpendicularity for autonomous drilling robot system
AU - Lin, Minqing
AU - Yuan, Peijiang
AU - Tan, Huajian
AU - Liu, Yuanwei
AU - Zhu, Qiancheng
AU - Li, Yong
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - The low accuracy of Autonomous Drilling Robot System (ADRS) has precluded their usage in aircraft assembly. Aiming at improving the accuracy of ADRS, three efforts are made in this paper. Firstly, a novel surface normal measurement and attitude adjusting method are proposed to guarantee the perpendicularity of holes. Secondly, an improvement compensation method is made for absolute positioning accuracy of industrial robot by using Gauss-Newton method. Thirdly, during the calibration of tool center point(TCP), which is one of the key technologies of offline programming control system, two balls are used in this method to solve the problem of low accuracy and inefficiency of traditional method using pointed end. Finally, both simulations and experiments are conducted to test the effect of the improvements and the results prove the improvements are effective.
AB - The low accuracy of Autonomous Drilling Robot System (ADRS) has precluded their usage in aircraft assembly. Aiming at improving the accuracy of ADRS, three efforts are made in this paper. Firstly, a novel surface normal measurement and attitude adjusting method are proposed to guarantee the perpendicularity of holes. Secondly, an improvement compensation method is made for absolute positioning accuracy of industrial robot by using Gauss-Newton method. Thirdly, during the calibration of tool center point(TCP), which is one of the key technologies of offline programming control system, two balls are used in this method to solve the problem of low accuracy and inefficiency of traditional method using pointed end. Finally, both simulations and experiments are conducted to test the effect of the improvements and the results prove the improvements are effective.
UR - https://www.scopus.com/pages/publications/84964507679
U2 - 10.1109/ROBIO.2015.7418980
DO - 10.1109/ROBIO.2015.7418980
M3 - 会议稿件
AN - SCOPUS:84964507679
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 1483
EP - 1488
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -