A Novel Method of Surface-normal Measurement in Robotic Drilling for Aircraft Fuselage Using Three Laser Range Sensors

被引：0

作者：

Gong, Maozhen ^{[1
]}

Yuan, Peijiang ^{[1
]}

Wang, Tianmiao ^{[1
]}

Yu, Leibin ^{[2
]}

Xing, Hongwen ^{[2
]}

Huang, Wen ^{[2
]}

机构：

[1] Beihang Univ, Intelligent Technol & Robot Res Ctr, Xueyuan Rd 37, Beijing, Peoples R China

[2] China Commerc Aircraft Comp, Shanghai AirCraft Mfg Co Ltd, Aeronaut Mfg Technol Res Inst, Shanghai, Peoples R China

来源：

2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2012年

基金：

中国国家自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Surface-normal measurement is an essential part in robotic drilling system. A novel method to measure the surface-normal of aircraft skin is proposed in this paper. Resumptively, three laser range sensors evenly distributed around the drill bit are used to measure the distance from them to aircraft skin within a small area. So the coordinates of three measured points can be obtained, and the normal vector is calculated from the cross product of any two vectors that are tangent to the surface at the drilling point. The simulation results and experiment conducted on an aeronautical drilling robot validate the precision and efficiency improvement of the drilling. The presented method is appropriate for intelligent robotic drilling for aircraft fuselage.

引用

页码：450 / 455

页数：6

共 6 条

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