Calibration for a robotic drilling system with secondary encoders based on a novel enhanced rigid-flexible coupling model
ISSN: 0143-991x
Article publication date: 26 April 2022
Issue publication date: 20 September 2022
Abstract
Purpose
This paper aims to propose a novel model and calibration method to improve the absolute positioning accuracy of a robotic drilling system with secondary encoders and additional axis.
Design/methodology/approach
The enhanced rigid-flexible coupling model is developed by considering both kinematic parameters and link flexibility. The kinematic errors of the robot and the additional axis are considered with a model containing 27 parameters. The elastic deformation errors of the robot under self-weight of links and end-effector are estimated with a flexible link model. For calibration, an effective comprehensive calibration method is developed by further considering the coordinate systems parameters of the drilling system and using a two-step process constrained Levenberg–Marquardt identification method.
Findings
Experiments are performed on the robotic drilling system that contains a KUKA KR500 R2830 industrial robot and an additional lifting axis with a laser tracker. The results show that the maximum error and mean error are reduced to 0.311 and 0.136 mm, respectively, which verify the effectiveness of the model and the calibration method.
Originality/value
A novel enhanced rigid-flexible coupling model and a practical comprehensive calibration method are proposed and verified. The experiments results indicate that the absolute positioning accuracy of the system in a large workspace is greatly improved, which is conducive to the application of industrial robots in the field of aerospace assembly.
Keywords
Acknowledgements
The authors gratefully acknowledge the financial support of the National Major Science and Technology Projects of China [grant number 2018ZX04006001].
Citation
Fan, Y., Zhang, Y., Jie, H., Yue, T., Bi, Q. and Wang, Y. (2022), "Calibration for a robotic drilling system with secondary encoders based on a novel enhanced rigid-flexible coupling model", Industrial Robot, Vol. 49 No. 6, pp. 1101-1115. https://doi.org/10.1108/IR-12-2021-0297
Publisher
:Emerald Publishing Limited
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