publication . Other literature type . Article . Conference object . 2017

Multi-sensor measurement system for robotic drilling

Sergej Pidan; Ira Effenberger; Andreas Frommknecht; Jens Kuehnle;
Open Access
  • Published: 01 Oct 2017
  • Publisher: Elsevier BV
  • Country: Germany
Abstract
In this paper we present a multi-sensor measurement system for robotic drilling. 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 test scenario and 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...
Subjects
free text keywords: Messen, Messverfahren, Bohren, Roboter, Luftfahrt, 6D, Multisensor, Aircraft, Control and Systems Engineering, Industrial and Manufacturing Engineering, Software, General Mathematics, Computer Science Applications, Drilling, Scenario testing, System of measurement, Engineering, business.industry, business, Clamping, Drill, Simulation, Mechanical engineering, Slippage, Robot, Coordinate system
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