An automatic tracking approach for aircraft skin drilling and riveting robot by using monocular vision technology

摘要

Industrial mechanical arm is widely used in aircraft manufacturing such as aircraft skin drilling and riveting. However, due to the open-loop controlling of the mechanical arm, the positioning precision cannot meet the high accuracy requirement in aircraft manufacturing. Therefore, this paper proposes a novel automatic tracking approach by using monocular vision technology. Due to the uncertain attitude of the mechanical arm, a polyhedron target with eight measured surfaces is designed. There are two coded points on each surface, and the attitude of the target can be calculated by using spacial intersection constraints, and the attitude of the end effector which is rigid connected to the target can be obtained by pre-calibrated the relationship between the compensation system and the mechanical arm. Finally, verification experiments have been employed to demonstrate the accuracy and the effectiveness of the proposed method.