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Indirect measure method of calibrating tool parameters for automated drilling robot


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Indirect measure method of calibrating tool parameters for automated drilling robot
Zhou Wei1Liao Wenhe1Tian Wei1Wan Shiming2Liu Yong2
1.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;2.Technology and Equipment Company,Chengdu Aircraft Industry(Group)Corporation Ltd.,Chengdu 610091,China
industrial robotsautomated drillingtool
To increase the calibration precision of industrial robot tool parameters,this paper proposes a calibration method through indirect measurement based on robot kinematics model.By means of relatively fixed position and orientation of two points in space,the method establishes relationship between tool parameters be easily calibrated through direct measurement and parameters of a virtual tool point located on the cutting tool axis.The position and orientation of the virtual tool point in the world coordinate system is obtained by drilling a test hole on a calibration plate,and the parameters of the virtual tool point can be deduced from the calibrated parameters.The experimental results show that compared with traditional methods the drilling precision is effectively improved by the method proposed here.


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Last Update: 2013-02-15