• 한국기계가공학회지
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• 제11권6호
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• pp.130-138
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• 2012

There are increasing demands from the industry for intelligent robot-calibration solutions, which can be tightly integrated to the manufacturing process. A proposed solution can simplify conventional robot-calibration and teaching methods without tedious procedures and lengthy training time. iGPS(Indoor GPS) system is a laser based real-time dynamic tracking/measurement system. The key element is acquiring and reporting three-dimensional(3D) information, which can be accomplished as an integrated system or as manual contact based measurements by a user. A 3D probe is introduced as the user holds the probe in his hand and moves the probe tip over the object. The X, Y, and Z coordinates of the probe tip are measured in real-time with high accuracy. In this paper, a new approach of robot-calibration and teaching system is introduced by implementing a 3D measurement system for measuring and tracking an object with motions in up to six degrees of freedom. The general concept and kinematics of the metrology system as well as the derivations of an error budget for the general device are described. Several experimental results of geometry and its related error identification for an easy compensation / teaching method on an industrial robot will also be included.

• 한국기계가공학회지
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• 제12권6호
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• pp.132-141
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• 2013

Robotic Drilling Systems(RDSs) set the standard for the factory automation systems in aerospace manufacturing. With the benefits of cost effective drilling and predictive maintenance, RDSs can provide greater flexibility in the manufacturing process. The system can be easily adopted to manage very complex and time-consuming processes, such as automated fastening hole drilling processes of large aircraft sections, where it would be difficult accomplished by workers following teaching or conventional guided methods. However, in order to build an RDS based on a CAD model, the precise calibration of the Tool Center Point(TCP) must be performed in order to define the relationships between the fastening-hole target and the End Effector(EEF). Based on the kinematics principle, the robot manipulator requires a new method to correct the 3D errors between the CAD model of the reference coordinate system and the actual measurements. The system can be called as a successful system if following conditions can be met; a. seamless integration of the industrial robot controller and the IO Level communication, b. performing pre-defined drilling procedures automatically. This study focuses on implementing a new technology called iGPS into the fastening-hole-drilling process, which is a critical process in aircraft manufacturing. The proposed system exhibits better than 100-micron 3D accuracy under the predefined working space. Based on the proposed EEF fastening-hole machining process, the corresponding processes and programs are developed, and its feasibility is studied.