Replicating human skill for robotic deep-micro-hole drilling

摘要

This paper presents a robotic system for a deep-micro-hole robotic drilling application, used in a glass container mold production industry. The delicate task of robotic micro-drilling is achieved with the developed framework capable of capturing the skills from an experienced human operator and repeating the task with the robotic system. Special mechanical and software setup is proposed for on-site recording of specific tasks performed by a human operator in real-case scenarios. Recorded motions are localized with respect to the product surface, combining the a priori known CAD models of the moulds and the proposed scanning and localization procedure. Finally, the obtained expert skill is applied to the robotic system for deep-micro-drilling. The performance of the proposed methods is experimentally validated.