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Multi-sensor measurement system for robotic drilling

 
: Frommknecht, Andreas; Kühnle, Jens; Pidan, Sergej; Effenberger, Ira

:
Fulltext urn:nbn:de:0011-n-3564467 (985 KByte PDF)
MD5 Fingerprint: 817dbe59bd2f28964860ae8171c3d074
Created on: 1.9.2015


Oduoza, Chike F. (Ed.) ; University of Wolverhampton:
FAIM 2015, 25th International Conference on Flexible Automation and Intelligent Manufacturing 2015. Proceedings. Vol.I : Designing for Advanced, High Value Manufacturing and Intelligent Systems for the 21st Century. 23-26 June 2015, Wolverhampton, UK
Wolverhampton, UK: Choir Press, 2015
ISBN: 978-1-910864-00-5
pp.398-405
International Conference on Flexible Automation and Intelligent Manufacturing (FAIM) <25, 2015, Wolverhampton>
English
Conference Paper, Electronic Publication
Fraunhofer IPA ()
6D; Multisensor; aircraft; Messen; Messverfahren; Bohren; Roboter; Luftfahrt

Abstract
A multi-sensor measurement system for robotic drilling is presented. The system enables a robot to measure its 6D pose with respect to the work piece and to establish a reference coordinate system for drilling. The robot approaches the drill point and performs an orthogonal alignment with the work piece. Although the measurement systems are readily capable of achieving high position accuracy and low deviation to perpendicularity, experiments show that inaccuracies in the robot's 6D-pose and especially slippage on the work piece when exerting clamping force considerably impact the results. With the current robotic drilling system an average position deviation of 0.285 mm and an average deviation to perpendicularity of 0.27° are achieved.

: http://publica.fraunhofer.de/documents/N-356446.html