工业机器人自动钻铆集成控制技术

摘要

An integrated control system is de-vised and developed for automatic drilling and riveting of fuselage plate, crucial technologies of the system are tested, and methods to solve several technological chal-lenges are developed, including communication between host computer, robot controller and end effector axis controller, synchronization of two robots, measurement of and compensation for reference hole deviation, normal direction measurement and adjustment of drilling location, robot positioning accuracy compensation, etc. The method is proved capable and effective in the integrated control of the entire automatic drilling and riveting process.%针对臂板类部件的机器人自动钻铆，设计、制作了一套集成控制系统，对集成控制的关键技术进行了试验研究，证明所采用的方法可以满足机器人集成控制的有效方法；基于这几项关键技术研究结果所设计、制作的机器人自动钻铆集成控制控制系统可以满足机器人自动钻铆的整个工艺过过程的集成控制要求。