机器人辅助飞机装配制孔中位姿精度补偿技术

在飞机自动化装配中,机器人制孔技术由于其高度柔性和相对低成本而倍受关注.然而,机器人本身的动、静态误差及制孔过程大量坐标系标定和坐标转换会引起难以补偿的残留误差,为提高机器人制孔的位置和姿态精度,构建一种基于激光跟踪仪闭环反馈的机器人辅助飞机装配制孔系统.本文首先论述应用激光跟踪仪建立系统中关键坐标系的方法,并分析了机...

Pose Accuracy Compensation Technology in Robot-aided Aircraft Assembly Drilling Process

In automatic aircraft assembly,one focus of attention is robotic drilling technology with its high flexibility and relatively low cost.However,pose errors hard to compensate of the robotic end tool may exist which are caused not only by the dynamic and static error of the robot,but also by errors in the calibration and transformation of the coordinate frames.To improve the accuracy of the position and orientation of the robotic end tool,a robot-aided aircraft assembly drilling system is constructed based on...