Coordination control of the automated fiber placement system using photogrammetry-based leader–follower approach

Abstract

The use of multiple robots in an automated fiber placement system (AFPS) makes it possible to manufacture composite structures with complex shapes. The robots in such system usually adopt independent trajectory planning and control methods. This makes the AFPS lack coordination, and rely heavily on the high-precision calibration of the system when completing complex fiber placement tasks. In this article, a novel photogrammetry-based leader–follower (PBLF) approach is proposed for a particular AFPS which consists of a serial manipulator and a parallel robot to improve its accuracy and coordination. The approach is composed of an offline trajectory planning module, a leader module, and a follower module. The trajectory planning algorithm in the offline trajectory planning module solves the problem of robot workspace constraints and mandrel occlusion in the fiber placement tasks for complex structure. Besides, a novel photogrammetry-based pose tracking method is proposed to make the follower robot track its desired relative trajectory with respect to the moving reference frame and keep the coordination of the two robots. The theoretical stability of the proposed approach is proved. The results of experiments indicate that the proposed approach can reduce the average mean absolute errors of the relative pose in position and orientation direction by 62.15% and 46.42%, respectively. While the corresponding average root mean square errors are reduced by 61.20% and 45.26%, respectively. Therefore, compared with Non-Coordination approach, the PBLF approach can effectively improve the coordination of the two robots.