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Related Concept Videos

Passive Filters01:27

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Passive filters are utilized to shape the frequency spectrum of signals across a diverse array of applications. These filters, using only passive elements like resistors (R), inductors (L), and capacitors (C), are capable of selectively allowing or blocking certain frequency ranges without the need for external power sources.
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A Normal Sensor Calibration Method Based on an Extended Kalman Filter for Robotic Drilling.

Dongdong Chen1, Peijiang Yuan2, Tianmiao Wang3

  • 1School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China. ddchen@buaa.edu.cn.

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A new calibration method improves robotic drilling accuracy by precisely identifying sensor errors. This ensures drill bit alignment with the surface normal, achieving high perpendicularity for precise hole drilling.

Keywords:
extended Kalman filterlaser displacement sensornormal adjustmentparameter identificationrobotic drilling system

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Area of Science:

  • Robotics
  • Sensor Calibration
  • Metrology

Background:

  • Robotic drilling systems require high perpendicularity accuracy for precision.
  • Laser displacement sensors are crucial for measuring surface orientation.
  • Existing calibration methods may not simultaneously address zero point and beam direction errors.

Purpose of the Study:

  • To propose a novel normal sensor calibration method for robotic drilling systems.
  • To simultaneously identify zero point and laser beam direction errors of laser displacement sensors.
  • To enhance the perpendicularity accuracy of robotic drilling operations.

Main Methods:

  • Developed a measurement model for sensor errors on a datum plane.
  • Utilized an extended Kalman filter algorithm for error identification.
  • Implemented surface normal measurement and attitude adjustments for drill bit alignment.

Main Results:

  • The proposed calibration method achieved high accuracy in parameter identification.
  • Simulations and experiments demonstrated perpendicularity within 0.2°.
  • Validated the effectiveness of the calibration method on a robotic drilling system.

Conclusions:

  • The developed method effectively calibrates laser displacement sensors for robotic drilling.
  • Achieved high-precision perpendicularity accuracy, crucial for industrial applications.
  • Provides a foundation for advanced robotic drilling systems requiring precise hole alignment.