Laser in-situ measurement in robotic machining of large-area complex parts

Abstract

High-precision manufacturing of key components in aerospace plays a crucial role in determining their operational performance, and shape measurement during machining is essential for controlling component accuracy. This article proposes a laser in-situ high-precision measurement method based on improved ICP registration during robotic machining to resolve the contradiction between measurement accuracy and range. Firstly, a robotic in-situ measurement system based on line laser scanning is constructed. Subsequently, the FM-BiKD-ICP algorithm based on geometric feature matching and bi-directional KD-tree proposed in this article is used to complete the high-precision registration of multi-million-scale point cloud data of complex parts with large surface area. Finally, the standard ball target ruler is measured, with the RMSE is under 0.079 mm after multiple registrations, and the average error of hole center distance is less than 0.037 mm on large-area complex parts. These results indicate the high precision of the proposed robot in-situ measurement system.