TY  - JOUR
AB  - Purpose 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.Design/methodology/approach 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.Findings 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.Practical implications 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.Originality/value 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.
VL  - 38
IS  - 2
SN  - 0144-5154
DO  - 10.1108/AA-02-2017-029
UR  - https://doi.org/10.1108/AA-02-2017-029
AU  - Zhao Dan
AU  - Bi Yunbo
AU  - Ke Yinglin
PY  - 2017
Y1  - 2017/01/01
TI  - A united kinematic calibration method for a dual-machine system
T2  - Assembly Automation
PB  - Emerald Publishing Limited
SP  - 226
EP  - 238
Y2  - 2024/09/22
ER  -