2016
High accurate robotic drilling with external sensor and compliance model-based compensation
Julian Ricardo Diaz Posada, Ulrich Schneider, Sergej Pidan, Milad Geravand, Patrick Stelzer, Alexander Verl
ICRA 2016
High accurate absolute robot positioning is a requirement, and still a challenge, in many applications, such as drilling in the aerospace industry. The accuracy is affected due to many sources of errors from robot model, tool calibration, sensor and product uncertainties. While model-based error com