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With the development of robot technology, industrial robots have been increasingly applied to aerospace and other high-end manufacturing fields, rather than limited to automotive, electronics and electrical industries. Aviation manufacturing industry has higher and higher requirements for high quality, high efficiency and long life of aircraft manufacturing. Realizing digitalization, flexibility and intelligence of aircraft manufacturing has become an inevitable trend in the development of aviation manufacturing industry. At present, drilling and riveting processes are still dominated by manual work in aviation manufacturing industry, which not only has low efficiency, but also results in unstable machining quality due to uneven technical level of individual workers. More importantly, manual operations have been unable to meet the technical indicators such as positioning accuracy and normal accuracy of the machined products.
Use of automatic machining technology has become an inevitable choice for today’s aviation manufacturing, among which the automatic machining system based on industrial robots is the current research focus. As is known to all, industrial robots only have high repeatability, but do not have sufficiently high positioning accuracy, which makes the robot automatic machining cannot meet the precision requirements of aviation products. Therefore, it has become an urgent problem to explore feasible and reliable positioning error compensation methods and to improve the accuracy of industrial robots. Carrying out research on error compensation theories and applications of industrial robots is of great significance and practical value for promoting the development and innovation of aviation manufacturing technology.
The objective of this book is to study error compensation technology for improving the accuracy of industrial robots. In summary, the book mainly includes theoretical analysis for the error compensation of industrial robots in Part I: Theories and the applications of the error compensation in robotic drilling and milling in Part II: Applications.
This book is organized as follows. Chapter 1 briefly introduces the research status of accuracy and error compensation technology of industrial robots. The forward and inverse kinematics model and error analysis of the robot are introduced in Chap. 2. In Chap. 3, the error compensation using kinematic calibration technique is investigated, together with two sampling methods. Chapter 4 proposes a compensation method with error similarity analysis. Different from the complex kinematics model, the positioning error estimation and compensation are realized by constructing the error mapping relationship. In Chap. 5, a robot accuracy improvement method is developed using feedforward compensation and feedback control considering the influence of joint backlash. In Chap. 6, an error compensation technique is presented using the visual guidance to effectively improve the pose accuracy of industrial robots. Applications of the error compensation technology to the robotic drilling and milling are exhibited in Chaps. 7 and 8, respectively.
The ideas in this book come from the scientific research achievements of the authors’ team in the field of improvement of the robot accuracy in the past ten years and can provide a certain reference for the studies on robotics and advanced manufacturing using industrial robots.
Theories.
Kinematic Modeling.
Positioning Error Compensation Using Kinematic Calibration.
Error-Similarity-Based Positioning Error Compensation.
Joint Space Closed-Loop Feedback.
Cartesian Space Closed-Loop Feedback.
Applications.
Applications in Robotic Drilling.
Applications in Robotic Milling