This article addresses a method for placement determination of robotic drilling system on two-dimensional manifold in robot joint space. It has been proved that the feasibility of positioning error compensation on two-dimensional manifold, and that the continuity of the robot parameters in the two-dimensional space is the prerequisite to perform the compensation in previous study. It appears that there are bifurcations which might break the continuity of the robot parameters on the two-dimensional manifold due to improper placement. To avoid bifurcations, a performance index and a set of optimization procedure are proposed to achieve proper placement of robotic machining system. Experiments conducted on a KUKA robot have verified the effectiveness of the proposed placement optimization method. Experiment results indicated that positioning errors were significantly improved with the proposed method, which is beneficial for robotic machining accuracy.

本文介绍一种确定机器人关节空间中二维流形上机器人钻孔系统位置的方法。已经证明了在二维流形上进行位置误差补偿的可行性，并且二维空间中机器人参数的连续性是进行先前研究的前提。似乎存在分叉，这可能由于放置不当而破坏二维歧管上机器人参数的连续性。为了避免分叉，提出了性能指标和一组优化程序以实现机器人加工系统的正确放置。在KUKA机器人上进行的实验已经验证了所提出的布局优化方法的有效性。