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<p>Industrial robots are widely used for drilling and riveting tasks in aerospace manufacturing. However, due to the deviation of the actual surface normal at the drilling point from that on the designed CAD model, the robot must measure the normal direction of the drilling point in real time and adjust the drill tool orientation before drilling. In this paper, a non-contact normal vector measurement method is implemented using a binocular camera fused with a cross-line laser, and a drilling end-effector is developed for normal direction correction. Two surface contour lines intersecting the drill point are identified by the binocular camera system and processed digitally to form two 3D single-pixel feature curves. The surface drilling point normal is derived from these curves fitting through cubic B-spline basis functions based on 3D point cloud data. A Rodrigues’ rotation formula is used to determine the rotation axis and correction angles for the end-effector. Experiments demonstrate that the robotic drilling end-effector achieves hole perpendicularity within 0.5° using the proposed measurement and adjustment method.</p>

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Cross-Light Based Normal Vector Measurement and Adjustment of Freeform Surface in Industrial Robotic Drilling

  • 期刊论文

  • 发表日期：

    2025年11月12日

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  • Lijie Zhou,
  • Bingchen Song,
  • Pengqiang Fu,
  • Hongyu Wang,
  • Zehai Huang

摘要

Industrial robots are widely used for drilling and riveting tasks in aerospace manufacturing. However, due to the deviation of the actual surface normal at the drilling point from that on the designed CAD model, the robot must measure the normal direction of the drilling point in real time and adjust the drill tool orientation before drilling. In this paper, a non-contact normal vector measurement method is implemented using a binocular camera fused with a cross-line laser, and a drilling end-effector is developed for normal direction correction. Two surface contour lines intersecting the drill point are identified by the binocular camera system and processed digitally to form two 3D single-pixel feature curves. The surface drilling point normal is derived from these curves fitting through cubic B-spline basis functions based on 3D point cloud data. A Rodrigues’ rotation formula is used to determine the rotation axis and correction angles for the end-effector. Experiments demonstrate that the robotic drilling end-effector achieves hole perpendicularity within 0.5° using the proposed measurement and adjustment method.