Development of a Non-Parametric Robot Calibration Method to Improve Drilling Accuracy

<div class="section abstract"><div class="htmlview paragraph">The drilling of large quantities repetitive holes during the manufacture aerospace components is often considered a key limiting factor with regards to production efficiency. Whilst desire within use relatively cheap six axis robot arms end effector units, their poor accuracy remains an obstacle. Robot calibration presents way improving such that tolerances can be met, without permanently committing metrology equipment automation cell production. Extensive research has been conducted into by correcting kinematic model, known as parametric calibration. This method highly complex, and calibrates across entire working volume. not required in industrial applications, routines are contained smaller volume reach. In this paper, non-parametric proposed. involves calibrating regions where pose similar, thus effects geometric errors model roughly constant. By establishing average positional error for each region, locally improved compensation through definition tool centre point. The proposed completed models or complex mathematics, making it more suitable users. From experimental trials, significant improvement drilled using standard reported, from 2 mm 0.1 mm, well requirements majority applications.</div></div>