Robot Flexible Automatic Drilling And Riveting Integrated Control Technology Based On Accuracy Compensation Application

Under the background of current Industry 4.0, the large-scale application of robots in the field of aviation has been the trend of the times. And the workload of drilling and riveting in the process of aircraft manufacturing is heavy. So the application of robots in the aspects is particularly important. In order to meet the processing requirement of aviation manufacturing, the absolute positioning accuracy of the robots must be improved and high-precision integrated control system must be implemented. In view of that, this article makes a deep research for the problem. A robot flexible automatic drilling and riveting integrated control system based on accuracy compensation application is put forward. The main research is as follows:1) The composition and overall control scheme of dual-robot flexible automatic drilling and riveting system is put forward. The system composition, working process and requirements are analyzed. The system hardware topology is modularly designed. The dual-robot collaborative motion is proposed. A three layer structure including master planning layer, motion control layer, and the external perception layer is designed.2) The accuracy compensation method based on similarity is presented. The concept of similarity is explained and elaborated from the error root based on MD-H model. Robot kinematic error model is established. The variable parameter accuracy compensation using space grid is proposed. L-M and EKF methods are used to identify the parameter error. A parameter identification + machine learning method is put forward to solve different types of error. On the basis of parameter identification, Ada Boost_BP algorithm is proposed to identify the nonlinear residual error to further improve the robot absolute positioning accuracy.3) The control software based on architecture and component reuse is presented. And thhe software task and demand analysis is finished. The software whole life cycle model is designed. The reusable core components are developed. As the post processing algorithm, the accuracy compensation method is integrated into the software. At last, application software layer is developed so as to complete the development of high-precision control system.4) Experiment platforms are set up to verify the methods of this article. The validation shows: The composition and overall control scheme of dual-robot flexible automatic drilling and riveting system is effective. The dual-robot’s maximum following error is 8.25 mm. The collaboration is good and it can meet the demand of dual-robot collaboratively drilling and riveting. The architecture and component reuse system development methods can substantially less development cycle. Single robot accuracy compensation method can improve the absolute positioning accuracy from 0.948 mm to 0.136 mm. Dual-robot kinematic calibration methods depend on the measurement precision and robot repeated positioning accuracy. The method error is negligible. The accuracy of the system can reach 0.3mm.