A new calibration method for a dynamic coordinate system in a robotic blade grinding and polishing system based on the six-point limit principle |
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| Affiliation: | 1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China;3. School of Mechanical and Electrical Engineering, Shenyang Aerospace University, Shenyang 110136, China;1. Xidian University, Xi''an, China;2. KTH Royal Institute of Technology, Stockholm, Sweden;3. University of Patras, Patras, Greece;4. Technical University of Berlin, Berlin, Federal Republic of Germany;1. School of Mechanical Engineering, Shandong University, Jinan 250061, PR China;2. Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan 250061, PR China;1. School of Control Science and Engineering, Shandong University, 17923 Jingshi Road, Jinan 250061, PR. China;2. Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan 250061, PR. China;1. Key Laboratory of Road Construction Technology and Equipment of MOE, Chang''an University, Xi''an 710064, China;2. School of Construction Machinery, Chang''an University, Xi''an, 710064, China;3. Department of Mechanical Engineering, University of Alberta, Edmonton, AB T6G 2E1, Canada;4. Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China |
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| Abstract: | Automatic robotic grinding and polishing systems have become a developing trend in aerospace parts manufacturing. In a robotic blade grinding and polishing system (RBGPS), the automatic and precise calibration of the dynamic workpiece coordinate frame is the most important process. In this research, a new method that introduces the concept of six-point positioning into the dynamic workpiece coordinate frame calibration process is proposed using a point laser displacement sensor (PLDS). The static coordinate frame calibration process is conducted based on a robot flange and force sensor. The results indicate that the new method can achieve a higher precision calibration result and has improved operational efficiency and cost. Finally, its practicality is verified in the BRGPS, and the results indicate that the polished blade surface after using the new method has good consistency. |
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