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On the Use of Force Feedback for Cost Efficient Robotic Drilling
Linköping University, Department of Management and Engineering, Assembly technology. Linköping University, The Institute of Technology.
ABB Robotics.
Lund University.
Lund University.
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2007 (English)Conference paper, Published paper (Other academic)
Abstract [en]

Drilling is one of the most costly and labour-intensive operations in aircraft assembly. Rather than automating with expensive fixtures and precise machinery, our approach is to make use of standard low-cost robot equipment in combination with sensor feedback. The focus is to eliminate the sliding movement of the end-effector during the clamp-up, called the skating effect, and to keep the end-effector orthogonal to the surface, thus avoiding holes that are not perpendicular. To that end, force feedback is used for building up pressure to clamp up an end-effector to the work-piece surface prior to drilling. The system, including the planning of force parameters for each hole to be drilled, was programmed in DELMIA. The drilling was accomplished with the aid of an extension to the ABB Rapid language called ExtRapid, which is an XML-like code that is interpreted by the force feedback controller downstream in the process. Although experimental results are from drilling, the conceptual idea is believed to be useful in many other applications requiring external sensor feedback control of industrial robots.

Place, publisher, year, edition, pages
Los Angeles, CA, US: Society of Automotive Engineers, 2007.
National Category
Aerospace Engineering
Identifiers
URN: urn:nbn:se:liu:diva-73384DOI: 10.4271/2007-01-3909OAI: oai:DiVA.org:liu-73384DiVA: diva2:471397
Conference
SAE 2007 AeroTech Congress & Exhibition Special Publications, September 17-20, Los Angeles Convention Center, Los Angeles, California, USA
Funder
Swedish Research Council
Available from: 2012-01-09 Created: 2012-01-02 Last updated: 2012-01-09Bibliographically approved

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Kihlman, Henrik

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf