{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,21]],"date-time":"2026-07-21T20:03:12Z","timestamp":1784664192770,"version":"3.55.0"},"reference-count":21,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2024,10,22]],"date-time":"2024-10-22T00:00:00Z","timestamp":1729555200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2025,3,4]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This study aims to propose a calibration method to enhance the positioning accuracy in dual-robot collaborative operations, aiming to address the challenge of drilling hole spacing errors in spacecraft core cabin brackets that require an accuracy of less than 0.5\u2009mm.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>Initially, the cooperative error of dual robots is defined. Subsequently, an integrated model is constructed that encompasses the kinematic model errors of the dual robots, as well as the establishment errors of the base and tool frames. A calibration method for optimizing the cooperative accuracy of dual robots is proposed.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The application of the proposed method satisfies the collaborative drilling requirements for the spacecraft core cabin. The average cooperative positioning error of the dual robots was reduced from 0.507 to 0.156\u2009mm, with the maximum value and standard deviation decreasing from 1.020 and 0.202\u2009mm to 0.603 and 0.097\u2009mm, respectively. Drilling experiments conducted on a core cabin simulator demonstrated that after calibration, the maximum hole spacing error was reduced from 1.219 to 0.403\u2009mm, with all spacing errors falling below the 0.5\u2009mm threshold, thus meeting the requirements.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper addresses the drilling accuracy requirements for spacecraft core cabins by using a calibration method to reduce the cooperative error of dual robots. The algorithm has been validated through experiments using ER 220 robots, confirming its effectiveness in fulfilling the drilling task requirements.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-05-2024-0243","type":"journal-article","created":{"date-parts":[[2024,10,21]],"date-time":"2024-10-21T02:38:58Z","timestamp":1729478338000},"page":"216-227","source":"Crossref","is-referenced-by-count":3,"title":["Calibration of a dual-robot collaborative system for drilling tasks on spacecraft core 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