The aim of this study is to investigate how the absolute accuracy of an
industrial robot can be increased by monitoring the position of the robot. The
motive is to automate high precision, low volume production such as aircraft
industry. A laser tracker that can measure both position and orientation with
very high accuracy isused to monitor the robot tool position. The robot and
laser tracker are integrated via a standard computer. The abilities and
performance of the robot, with and without feedback from the laser tracker, are
investigated. Robotic drilling is performed with supervision and control from
the laser tracker. The system is implemented and tested on parts of a
demonstrator for new aircraft assembly techniques. The ability to position
components with internal friction to (+/-)0.05 mm absolute accuracy is shown.
Source: Linköping University
Author: Sunnanbo, Albin