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通过机器人末端执行器视觉系统的全局与局部实时精度补偿,机器人的制孔精度可以达到±0.3mm,相比未补偿前有了很大的提高,此精度指标可以满足飞机自动化装配制孔精度的要求,已经在国外先进飞机装配生产线广泛的采用,特别以宝捷、KUKA等公司建立的生产线,都是采用基于末端执行器视觉系统进行制孔精度补偿,此种方式不需配置激光跟踪仪等附属设备,因此具有较大的优势。
Through the global and local real-time accuracy compensation of robot end-effector vision system, the precision of the robot can be up to ± 0.3mm, which is greatly improved compared with that before compensation. This accuracy index can meet the requirement of precision Requirements, has been widely used in foreign advanced aircraft assembly line, especially to Baojie, KUKA and other companies to establish production lines, are based on end-effector vision system for hole precision compensation, this way without the need to configure the laser tracker, etc. Ancillary equipment, so has a greater advantage.