Abstract
This paper expounds the principle and method of calibration and base detection by using the visual measurement system for detection and correction of installation error between workpiece and the robot drilling system. This includes the use of Cognex Insight 5403 high precision industrial camera, a light source, and the KEYENCE coaxial IL-300 laser displacement sensor. The three-base holes method and two-base holes method are proposed to analyze the transfer relation between the basic coordinate system of the actual hole drilling robot and the basic coordinate system of the theoretical hole drilling robot. The corresponding vision coordinates calibration and the base detection experiments are examined and the data indicate that the result of base detection is close to the correct value.
Highlights
Industrial robotic applications are becoming widely used in the aviation sector [1] because of lower investment, increasing automation, table working performance, and good accessibility
From the beginning of twenty-first Century, American GEMCOR, EI (ElectroimPact), Italian COMAU, and German BROETJE-Automation have been committed to the design and development of drilling robot systems, and their drilling robot system production has been used in aircraft manufacturing enterprises, such as the F-16, F-22 vertical wall, F-35 aircraft wing panel, and A380 wing panel [2,3,4]
S H Bi developed a drilling robot system, which uses an industrial camera to establish the relationship between the workpiece and the robot coordinate system [5]
Summary
Industrial robotic applications are becoming widely used in the aviation sector [1] because of lower investment, increasing automation, table working performance, and good accessibility. Due to errors caused by the orientation of the motion device or the installation of the workpiece, differences in the relative location of the workpiece and the robot drilling system will occur, which will result in the offset of the actual arrival position [4, 7]. To simplify this problem, working pieces are assumed to be in a theoretical position, and all installation errors can be concentrated on the robot coordinate system [8, 9]. The fundamental theory of base detection can be illustrated, first, by the actual position being checked through measuring the datum holes on the workpiece when the drilling robot system arrives at the designated location and, second, as the matrix between the theoretical robot coordinate system and the actual robot coordinate system being deduced to a generally correct position of the holes involved in programming
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