This paper aims to propose a united kinematic calibration method for a dual-machine system in automatic drilling and riveting. The method takes both absolute and relative pose accuracy into account, which will largely influence the machining accuracy of the dual-machine system and assembly quality.
A comprehensive kinematic model of the dual-machine system is established by the superposition of sub-models with pose constraints, which involves base frame parameters, kinematic parameters and tool frame parameters. Based on the kinematic model and the actual pose error data measured by a laser tracker, the parameters of coordinated machines are identified by the Levenberg–Marquardt method as a multi-objective nonlinear optimization problem. The identified parameters of the coordinated machines will be used in the control system.
A new calibration method for the dual-machine system is developed, including a comprehensive kinematic model and an efficient parameter identification method. The experiment results show that with the proposed method, the pose accuracy of the dual-machine system was remarkably improved, especially the relative position and orientation errors.
This method has been used in an aircraft assembly project. The calibrated dual-machine system shows a good performance on system coordination and machining accuracy.
This paper proposes a new method with high accuracy and efficiency for the dual-machine system calibration. The research can be extended to multi-machine and multi-robot fields to improve the system precision.
The work was supported by Science Fund for Creative Research Groups of National Natural Science Foundation of China (No. 51521064), Special Scientific Research for Civil Aircraft (NO. MJ-2015-G-081) and National Natural Science Foundation of China (No. 51775495). The authors thank the editors and the anonymous referees for their insightful comments.
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