@inproceedings{52fc9ef601164270b350a9b54bb21d1a,
title = "Study and experiment of attitude adjustment algorithm for robot drilling end-effector",
abstract = "An algorithm for the automatic attitude adjustment of the spindle in robot drilling end-effector is presented in this paper. The double eccentric discs normal adjustment mechanism is used to adjust the spindle axis to coincide with the normal direction of the drilling point automatically before drilling. However, there are two available directions and attitudes for each eccentric disc to rotate, so how to adjust the attitude of spindle quickly and accurately on the premise of guaranteed drilling perpendicularity is a key issue. In order to improve the adjustment efficiency, this paper proposes that the minimum sum of rotational angles in macro and micro eccentric disc is the optimal solution. Finally we obtain optimal solution from four solutions, and the effectiveness and accuracy of the algorithm are verified by inclinometer experiment.",
keywords = "attitude adjustment, inclinometer experiment, optimal solution, perpendicularity",
author = "Ting Lai and Jiting Li and Yuan Peijiang and Wang Chengkun and Wei Han and Yong Li and Huajian Tan and Zhenyun Shi and Wang Tianmiao",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015 ; Conference date: 15-06-2015 Through 17-06-2015",
year = "2015",
month = nov,
day = "20",
doi = "10.1109/ICIEA.2015.7334234",
language = "英语",
series = "Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "878--884",
booktitle = "Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015",
address = "美国",
}