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Leica Laser Tracker - SA in Aerospace Manufacturing - en PDF
Leica Laser Tracker - SA in Aerospace Manufacturing - en PDF
Robot Calibration
MOVE –
MEASURE –
CORRECT
The calibrations enabled SA Machine to compute opti- The advantages of this technique included:
mal joint angles for each DA hole position. SA Machine
by-passes the robot’s kinematics by directly commanding • Localized calibration optimization within
optimal joint angles to achieve DA hole accuracies. The work space of interest
direct robot interface enabled an MP to fine-tune the
robot’s drill head position at each DA hole using tracker • Kinematic calibrations included deflection
measurements. This closed loop feedback process is compensation based on load and poses
called “Move-Measure-Correct.” needed to drill each local hole pattern
After sending the robot to a goal frame, a measurement • Ability to pick and choose which kinematic
of the robot’s actual location was made using the T-Mac. parameters to optimize
The difference between the actual and goal frame was
computed and used as an input for a new incremental • Enabling the choice of best metrology
robot move. The end result positioned the robot drill head systems to calibrate the robot within the
precisely to drill each DA hole. work cell
GANTRY CMMS MULTISENSOR & OPTICAL SYSTEMS WHITE LIGHT SCANNERS ULTRA HIGH ACCURACY CMMS
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