{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T11:14:35Z","timestamp":1772363675108,"version":"3.50.1"},"reference-count":24,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2022,4,26]],"date-time":"2022-04-26T00:00:00Z","timestamp":1650931200000},"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":[[2022,9,20]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to propose a novel model and calibration method to improve the absolute positioning accuracy of a robotic drilling system with secondary encoders and additional axis.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The enhanced rigid-flexible coupling model is developed by considering both kinematic parameters and link flexibility. The kinematic errors of the robot and the additional axis are considered with a model containing 27 parameters. The elastic deformation errors of the robot under self-weight of links and end-effector are estimated with a flexible link model. For calibration, an effective comprehensive calibration method is developed by further considering the coordinate systems parameters of the drilling system and using a two-step process constrained Levenberg\u2013Marquardt identification method.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Experiments are performed on the robotic drilling system that contains a KUKA KR500 R2830 industrial robot and an additional lifting axis with a laser tracker. The results show that the maximum error and mean error are reduced to 0.311 and 0.136\u2009mm, respectively, which verify the effectiveness of the model and the calibration method.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>A novel enhanced rigid-flexible coupling model and a practical comprehensive calibration method are proposed and verified. The experiments results indicate that the absolute positioning accuracy of the system in a large workspace is greatly improved, which is conducive to the application of industrial robots in the field of aerospace assembly.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-12-2021-0297","type":"journal-article","created":{"date-parts":[[2022,4,23]],"date-time":"2022-04-23T07:11:11Z","timestamp":1650697871000},"page":"1101-1115","source":"Crossref","is-referenced-by-count":9,"title":["Calibration for a robotic drilling system with secondary encoders based on a novel enhanced rigid-flexible coupling model"],"prefix":"10.1108","volume":"49","author":[{"given":"Yunfei","family":"Fan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yilian","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huang","family":"Jie","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tang","family":"Yue","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qingzhen","family":"Bi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuhan","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2022,4,26]]},"reference":[{"issue":"3","key":"key2022091911543816200_ref001","doi-asserted-by":"crossref","first-page":"371","DOI":"10.1108\/IR-01-2018-0018","article-title":"Introducing data analytics to the robotic drilling process","volume":"45","year":"2018","journal-title":"Industrial Robot: An International Journal"},{"issue":"1","key":"key2022091911543816200_ref002","first-page":"76","article-title":"The parameter identification model considering both geometric parameters and joint stiffness","volume":"47","year":"2020","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"key":"key2022091911543816200_ref003","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1016\/j.rcim.2018.07.002","article-title":"Non-kinematic calibration of industrial robots using a rigid\u2013flexible coupling error model and a full pose measurement method","volume":"57","year":"2019","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2022091911543816200_ref004","article-title":"A kinematic notation for lower-pair mechanisms","year":"1955","journal-title":"ASME J. 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