Process for positioning an assembly tool on the end of an articulated arm and device for its implementation

摘要

The invention relates to a method for positioning an effector (12) in relation to a surface (14), said effector (12) comprising at least one tool for performing an assembly step such as drilling or riveting, and being attached to the end of an articulated arm (10) which is able to apply an effort against the surface (14) by means of the effector (12), the effector (12) comprising a front wall (22) facing the surface (14). The inventive method is characterized in that it involves measuring a relative movement between the front wall (22) and a support plate (30) comprising at least one part which can be supported directly or indirectly against the surface (14) and can be immobile in relation to the surface and connected to the front plate (22) in such a way as to be able to be displaced in at least one direction and to control the articulated arm (10) such that it performs a movement for compensating the measured relative movement.

主权项

1. A process for positioning an effector relative to a surface, comprising:
providing at least one tool configured to carry out an assembly stage, drilling or riveting, said effector being attached to an end of an articulated arm that can apply via said effector a force against said surface, said effector comprising a front wall and a support plate comprising at least one part that can be supported directly or indirectly against the surface and can be stationary relative to said surface; the support plate being movable in a plane that is parallel to the front wall; means to promote movement and to limit friction being provided between the front wall and the support plate; applying the support plate to the surface while exerting a force; measuring a relative movement between the front wall and the support plate in directions parallel to front wall; and actuating said articulated arm so that the articulated arm performs a movement designed to compensate for the relative measured movement.