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

Content Provider	Springer Nature Link
Author	Zhu, Weidong Qu, Weiwei Cao, Lianghong Yang, Di Ke, Yinglin
Copyright Year	2013
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.
Starting Page	2535
Ending Page	2545
Page Count	11
File Format	PDF
ISSN	02683768
Journal	The International Journal of Advanced Manufacturing Technology
Volume Number	68
Issue Number	9-12
e-ISSN	14333015
Language	English
Publisher	Springer London
Publisher Date	2013-03-14
Publisher Place	London
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Off-line programming Robotic drilling Redundancy resolution Singularity avoidance Joint-limit avoidance Position correction Industrial and Production Engineering Production/Logistics/Supply Chain Mechanical Engineering Computer-Aided Engineering (CAD, CAE) and Design
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Control and Systems Engineering Mechanical Engineering Computer Science Applications Software

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