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Analysis on Key Technologies of Dual-Robot Collaborative Assembly for Narrow Space of Aircraft |
LIU Hongwei 1 , PAN Xin 1 , ZHANG Qi 2 , ZHANG Haosong 2 , LI Pengcheng 2 , TIAN Wei 2 |
1. AVIC Shenyang Aircraft Industrial (Group) Co., Ltd., Shenyang 110850, China;
2. Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China |
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Abstract Aiming at the problem of large assembly workload, high quality and precision requirements of hole making in aircraft narrow space, an intelligent control technology of dual-robot guided cooperative operation for aircraft narrow space was proposed. The key technologies of dual-robot trajectory planning and cooperative off-line simulation, robot collaborative visual servoing control compensation, and quick change of multi-function terminal actor design are investigated. The processing of the target hole position is completed while ensuring the safe operation of the robot system and the workpiece, in order to improve the assembly accuracy, reduce the assembly space occupation, provide support for the design of the inlet performance. Experiments show that the absolute positioning error of the robot is reduced to ±0.1mm by visual servoing control.
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