School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.
Shanghai Aircraft Manufacturing Co., Ltd., Shanghai 200436, China.
Sensors (Basel). 2018 Oct 16;18(10):3485. doi: 10.3390/s18103485.
To enhance the perpendicularity accuracy in the robotic drilling system, a normal sensor calibration method is proposed to identify the errors of the zero point and laser beam direction of laser displacement sensors simultaneously. The procedure of normal adjustment of the robotic drilling system is introduced firstly. Next the measurement model of the zero point and laser beam direction on a datum plane is constructed based on the principle of the distance measurement for laser displacement sensors. An extended Kalman filter algorithm is used to identify the sensor errors. Then the surface normal measurement and attitude adjustments are presented to ensure that the axis of the drill bit coincides with the normal at drilling point. Finally, simulations are conducted to study the performance of the proposed calibration method and experiments are carried out on a robotic drilling system. The simulation and experimental results show that the perpendicularity of the hole is within 0.2°. They also demonstrate that the proposed calibration method has high accuracy of parameter identification and lays a basis for high-precision perpendicularity accuracy of drilling in the robotic drilling system.
为了提高机器人钻孔系统的垂直度精度，提出了一种正常传感器校准方法，以同时识别激光位移传感器的零点和激光束方向的误差。首先介绍了机器人钻孔系统的正常调整过程。然后，基于激光位移传感器距离测量原理，构建了基准面上零点和激光束方向的测量模型。采用扩展卡尔曼滤波算法识别传感器误差。接着提出了表面法向测量和姿态调整方法，以确保钻头轴与钻孔点的法向重合。最后，进行了仿真研究以评估所提出的校准方法的性能，并在机器人钻孔系统上进行了实验。仿真和实验结果表明，孔的垂直度在 0.2°以内。结果还表明，所提出的校准方法具有较高的参数识别精度，为机器人钻孔系统中高精度的垂直度精度奠定了基础。
