A united kinematic calibration method for a dual-machine system. Issue 2 (3rd April 2018)

• Record Type: Journal Article
• Authors: Zhao, Dan; Bi, Yunbo; Ke, Yinglin
• Is Part Of: Assembly automation. Volume 38:Issue 2(2018)
• Page Start: 226
• Page End: 238
• Publication Date: 2018-04-03
• Subjects: Parameters identification -- Kinematic calibration -- Automatic drilling and riveting machine -- Dual-machine system -- Relative pose accuracy; Automation -- Periodicals; Automatic machinery -- Periodicals; Assembly-line methods -- Periodicals; Industrial engineering -- Periodicals; 670.42705
• DOI: 10.1108/AA-02-2017-029
• Languages: English
• ISSNs: 0144-5154

Abstract

Abstract : Purpose: This paper aims to propose a united kinematic calibration method for a dual-machine system in automatic drilling and riveting. The method takes both absolute and relative pose accuracy into account, which will largely influence the machining accuracy of the dual-machine system and assembly quality. Design/methodology/approach: A comprehensive kinematic model of the dual-machine system is established by the superposition of sub-models with pose constraints, which involves base frame parameters, kinematic parameters and tool frame parameters. Based on the kinematic model and the actual pose error data measured by a laser tracker, the parameters of coordinated machines are identified by the Levenberg–Marquardt method as a multi-objective nonlinear optimization problem. The identified parameters of the coordinated machines will be used in the control system. Findings: A new calibration method for the dual-machine system is developed, including a comprehensive kinematic model and an efficient parameter identification method. The experiment results show that with the proposed method, the pose accuracy of the dual-machine system was remarkably improved, especially the relative position and orientation errors. Practical implications: This method has been used in an aircraft assembly project. The calibrated dual-machine system shows a good performance on system coordination and machining accuracy. Originality/value: This paper proposes a new method with high accuracy and efficiency for the dual-machine system calibration. The research can be extended to multi-machine and multi-robot fields to improve the system precision.