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An off-line programming system for robotic drilling in aerospace manufacturing

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Abstract

Off-line programming systems are essential tools for the effective use of robots in the manufacturing environment. This paper presents a dedicated off-line programming system for robotic drilling in aerospace manufacturing. Following a brief introduction of the system architecture, the paper discusses two major problems of off-line programming for robotic drilling, i.e., redundancy resolution and position correction. A new performance index is proposed for the combined requirements of singularity and joint-limit avoidance, followed by a discussion of the redundancy resolution scheme by using numerical optimization at the joint displacement level. A position correction method using measurement data of reference holes is developed for the enhancement of robotic drilling accuracy. Robot programs generated by using the developed system have been tested on a robotic drilling system, and the experimental results are provided.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Zhejiang University, Hangzhou, China, 310027

    Weidong Zhu, Weiwei Qu, Lianghong Cao, Di Yang & Yinglin Ke

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  1. Weidong Zhu
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  2. Weiwei Qu
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  3. Lianghong Cao
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  4. Di Yang
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  5. Yinglin Ke
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Correspondence to Weiwei Qu.

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Zhu, W., Qu, W., Cao, L. et al. An off-line programming system for robotic drilling in aerospace manufacturing. Int J Adv Manuf Technol 68, 2535–2545 (2013). https://doi.org/10.1007/s00170-013-4873-5

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  • DOI: https://doi.org/10.1007/s00170-013-4873-5

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