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Laser feedback control for robotics in aircraft assembly
Linköping University, Department of Electrical Engineering.
2003 (English)Independent thesis Basic level (professional degree)Student thesisAlternative title
Laseråterkopplad styrning av robotar i flygplansmontering (Swedish)
Abstract [en]

The aim of this thesis is to investigate how the absolute accuracy of an industrial robot can be increased by monitoring the position of the robot. The motive is to automate high precision, low volume production such as aircraft industry. A laser tracker that can measure both position and orientation with very high accuracy isused to monitor the robot tool position. The robot and laser tracker are integrated via a standard computer.

The abilities and performance of the robot, with and without feedback from the laser tracker, are investigated. Robotic drilling is performed with supervision and control from the laser tracker.

The system is implemented and tested on parts of a demonstrator for new aircraft assembly techniques. The ability to position components with internal friction to (+/-)0.05 mm absolute accuracy is shown.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2003. , 64 p.
LiTH-ISY-Ex, 3470
Keyword [en]
Reglerteknik, Laser tracker, Leica LTD800, Robot, ABB IRB4400, Six degrees of freedom, Feedback controller, Robot drilling, High accuracy
Keyword [sv]
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-2097OAI: diva2:19426
Available from: 2004-01-16 Created: 2004-01-16

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Department of Electrical Engineering
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