Full-closed-loop control method for high-precision drilling of robot

Abstract

The invention discloses a full-closed-loop control method for high-precision drilling of a robot, and the method is based on an industrial robot, a laser tracker pose measurement system, a tail end drilling actuator system, and an integrated cooperative control upper computer. And the theoretical values of the points to be machined are updated and corrected, and the measured value of a laser tracker pose measurement system serves as the real-time pose feedback quantity of a tail end hole forming actuator to achieve closed-loop pose control of the robot. And based on the normal vector measurement function of the tail end hole making system, normal vector correction compensation at the position of a hole to be machined of the tail end hole making system is achieved, and full-closed-loop machining of the hole making technology of the machined part is completed. According to the method, through the position and posture correction and compensation treatment in different stages in the process of hole making process preparation and process execution, the full-closed loop of the hole making process is formed while the hole making precision of robot machining is improved, the machining efficiency is improved, and the hole making precision requirement of industrial robot machining is better met.

Description

Technical Field

[0001] The invention belongs to the technical field of robot automated processing, and in particular relates to a full-closed-loop control method for high-precision hole making by a robot. Background Art

[0002] With the rapid development of aviation equipment, the structural forms of aircraft are becoming more and more complex and diverse. Their large scale, complex configuration and short manufacturing cycle have brought new challenges to China's advanced manufacturing technology in aerospace. In particular, there are a large number of connection holes in the mechanical connection of large and complex components. The connection holes between structural components are stress concentration areas, and their quality has a crucial impact on the fatigue life of the connection parts.

[0003] At present, in order to improve the performance of various aspects of aircraft, higher requirements are put forward for its structural scattering area, maneuvering load and design life, which in turn puts forward stringent requirements for assembly quality and skin outer surface integrity. In aircraft design and processing, aircraft parts use a large number of thin-walled weak rigid laminated components, and there are a large number of connection holes on their surfaces. Robot hole making is flexible in application, has good processing accessibility, environmental adaptability and manufacturing flexibility, and can meet the in-situ processing of large structural components. At the same time, the use of robot hole making can minimize the manufacturing cost of aircraft assembly, reduce the floor space occupied by large-scale automated hole making equipment and the number of operators, so the research on robot hole making is of great significance.

[0004] However, the robot's own absolute positioning accuracy is low, and its hole-making position accuracy, normal adjustment accuracy, countersinking accuracy, etc. cannot currently meet the processing requirements of large-size integral structures. In addition, the current research on high-precision hole-making technology for robots is still insufficient, and the control method for fully closed-loop control of robot hole-making is not perfect enough. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a fully closed-loop control method for high-precision hole making by a robot. Based on the laser tracker posture measurement system, the robot end hole making system and the industrial robot collaborate to meet the robot's hole making position accuracy, normal adjustment accuracy and countersinking accuracy, complete the fully closed-loop processing of the hole making process of the processed parts, and improve the hole making efficiency and hole making quality.

[0006] The technical solution adopted by the present invention is: a fully closed-loop control method for high-precision hole making by a robot, and the specific steps are as follows:

[0007] S1. Build a fully closed-loop control system for high-precision hole making by robots;

[0008] The fully closed-loop control system includes arranging a laser tracker posture measurement system at a safe distance of the industrial robot, and installing a hole-making system at the end of the robot, and installing a camera in the hole-making system at the end of the robot; then using an integrated collaborative control host computer to combine the laser tracker posture measurement system and the hole-making system, that is, combining "laser tracker + visual system + robot processing" together, establishing a "measurement-solution-compensation" closed-loop control logic, and realizing high-precision processing and hole-making of the robot.

[0009] Among them, the hole-making system has the function of measuring the normal vector of the section at the processing point; the camera is used to update and correct the theoretical posture value of the robot's hole-making.

[0010] S2, based on the full closed-loop control system constructed in step S1, enter the process preparation stage before the robot high-precision hole making, and obtain the corrected theoretical value of the hole to be processed;

[0011] S21, the fully closed-loop control system imports the processing technology database, and uses the offline programming software to plan the robot hole-making path trajectory points according to the processing technology database;

[0012] The processing technology database includes: processed material, processed thickness, product curvature, hole position, hole diameter, hole normal, countersink depth, and reference hole position.

[0013] S22, using a laser tracker posture measurement system to calibrate the robot base coordinate system, the tooling coordinate system, and the robot terminal hole making system coordinate system, and to track the robot terminal hole making system posture in real time, thereby obtaining a real-time posture relationship between the terminal hole making system coordinate system and the robot base coordinate system;

[0014] The tracking range of the laser tracker position and posture measurement system covers the reachable space of the robot, and the robot end hole making system moves within the reachable range of the robot and the measurement range of the laser tracker position and posture measurement system.

[0015] S23, based on steps S21 and S22, the terminal hole making system visual camera detects the reference hole, runs the theoretical value hole position correction algorithm, and realizes the correction and update of the theoretical position value of the hole to be processed by the robot;

[0016] According to the camera installed on the robot's terminal hole-making system, based on the theoretical position data of the reference hole of the machined workpiece in the database integrated in step S21, the measurement value of the laser tracker posture measurement system in step S22 is used as the real-time posture feedback data of the robot's terminal hole-making system, and the robot's terminal hole-making system is moved to the theoretical position of the reference hole. The camera takes a picture of the reference hole, and the theoretical value hole position correction algorithm integrated in the collaborative control host computer in the full-closed-loop control system is used to perform error analysis on the theoretical value of the reference hole of the machined workpiece and the actual measurement value of the end effector camera, so as to realize the correction and update of the theoretical position value of the robot's hole to be processed.

[0017] S3, based on step S2, entering the process execution stage of high-precision hole making by the robot, and completing the full closed-loop processing of the hole making process of the processed parts;

[0018] S31, based on the closed-loop position control algorithm, the robot end hole making system is operated to the hole position to be made, and the robot hole making system operates the adaptive normal vector adjustment algorithm to adjust the normal vector;

[0019] S32, based on step S31, after the normal vector deviation adjustment is completed, the host computer issues a hole making instruction to the robot terminal hole making system, and performs hole making based on the processing technology database of the hole to be processed in step S21;

[0020] S33. Based on step S32, determine whether the robot has completed processing of all the holes to be processed. If not, return to step S31 and repeat steps S31 and S32 until all the holes to be processed of the workpiece are completed, thus completing the full closed-loop processing of the hole-making process of the processed parts.

[0021] Furthermore, the step S22 is specifically as follows:

[0022] The laser tracker position measurement system calibrates the robot base coordinate system, the tooling coordinate system, and the robot end hole making system coordinate system to obtain the transformation matrix relative to the laser tracker position measurement system coordinate system. The transformation matrix is ​​used Indicates that the robot base coordinate system is used as the world coordinate system.

[0023] Among them, L represents the coordinate system of the laser tracker position measurement system, B represents the robot base coordinate system, F represents the tooling coordinate system, and E represents the robot end hole making system coordinate system.

[0024] The transformation matrix is ​​used to set the position relationship between the robot end hole making system coordinate system and the robot base coordinate system indicates that, and When the robot drives the terminal hole-making system to move in space, the laser tracker position measurement system tracks the terminal hole-making system in real time and measures its position and posture, and obtains the real-time position and posture relationship between the terminal hole-making system and the robot base coordinate system. The position and posture relationship is calculated through the transformation matrix The transformation matrix of the tooling coordinate system relative to the robot base coordinate system is obtained: and

[0025] Furthermore, the step S23 is specifically as follows:

[0026] First, based on the theoretical position data of the reference hole of the workpiece to be processed in the processing technology database in step S21, the robot end hole making system is moved to the reference hole of the workpiece to be processed by the tooling, and the camera of the robot end hole making system takes a picture of the reference hole, and all the reference holes are photographed and saved.

[0027] Then calculate the actual position information of the reference hole, that is, calculate the position coordinates P of the reference hole in the image relative to the camera coordinate system through the internal and external parameter matrix of the camera Ci , i represents any reference hole. The transformation matrix of the camera coordinate system relative to the robot end hole making system coordinate system can be obtained by calibrating the laser tracker position measurement system.

[0028] Where C represents the camera coordinate system, P Ci The coordinates relative to the robot base coordinate system are

[0029] The position coordinates P of all reference holes calculated by the camera relative to the robot base coordinate system Bi The deviation is calculated with the theoretical coordinate value of the reference hole in step S21, and the hole position coordinates of all holes to be processed in the database are updated and corrected based on the deviation between the theoretical value and the actual measurement value of the reference hole to obtain the corrected theoretical value of the hole to be processed, that is, more accurate theoretical position coordinates of the point to be processed, thereby realizing the precision of the theoretical position points of the holes to be processed.

[0030] Furthermore, the step S31 is specifically as follows:

[0031] S311, based on the closed-loop position control algorithm, the robot end hole making system is accurately moved to the hole to be processed, that is, the robot moves to the theoretical position of the point to be processed based on the updated point in step S23 based on the robot path planning point in step S21;

[0032] In the closed-loop position control algorithm, the theoretical pose coordinates of the hole to be processed by the terminal hole-making system updated in step S23 are used as the target value, and the measurement value of the robot terminal hole-making system by the laser tracker pose measurement system is used as the real-time pose feedback value. Then, the deviation between the actual pose value and the theoretical pose value of the robot terminal hole-making system at the hole to be processed is calculated, and the real-time pose correction of the machine terminal hole-making system is performed based on the deviation until the deviation between the measured actual pose value and the theoretical pose value meets the error requirement.

[0033] S312. Based on step S311, the robot end hole making system measures the normal vector of the workpiece at the hole to be processed through the normal vector measurement function, and uses the deviation value obtained by the normal measurement as the posture deviation feedback at the point. According to the posture deviation feedback at the hole to be processed, the posture of the robot end hole making system is corrected and adjusted through the normal vector adaptive adjustment algorithm until the measured normal vector deviation meets the accuracy requirement, and the normal vector deviation correction is stopped.

[0034] Beneficial effects of the present invention: The method of the present invention is based on an industrial robot, a laser tracker posture measurement system, an end hole making actuator system and an integrated collaborative control host computer, and respectively updates and corrects the theoretical value of the processing point, uses the measurement value of the laser tracker posture measurement system as the real-time posture feedback of the end hole making actuator to realize the closed-loop posture control of the robot, and realizes the normal vector correction compensation of the end hole making system at the hole to be processed based on the normal vector measurement function of the end hole making system, thereby completing the full closed-loop processing of the hole making process of the processed parts. The method of the present invention improves the robot's processing and hole making accuracy through posture correction and compensation processing at different stages during the hole making process preparation and process execution, while forming a full closed-loop of the hole making process, improving processing efficiency, and better meeting the accuracy requirements of industrial robot processing and hole making. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 The present invention is a flowchart of a fully closed-loop control method for high-precision hole making by a robot.

[0036] Figure 2 This is a flow chart of the algorithm for correcting the theoretical value of the hole position of the hole to be processed by the camera of the robot end hole making system in an embodiment of the present invention.

[0037] Figure 3 This is a flow chart of an algorithm for precise closed-loop position control of a robot based on a laser tracker posture measurement system in an embodiment of the present invention.

[0038] Figure 4 Flow chart of an adaptive normal vector adjustment algorithm in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The method of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0040] like Figure 1 As shown, a flow chart of a fully closed-loop control method for high-precision hole making by a robot of the present invention is shown, and the specific steps are as follows:

[0041] S1. Build a fully closed-loop control system for high-precision hole making by robots;

[0042] The fully closed-loop control system includes arranging a laser tracker posture measurement system at a safe distance of the industrial robot, and installing a hole-making system at the end of the robot, and installing a camera in the hole-making system at the end of the robot; then using an integrated collaborative control host computer to combine the laser tracker posture measurement system and the hole-making system, that is, combining "laser tracker + visual system + robot processing" together, establishing a "measurement-solution-compensation" closed-loop control logic, and realizing high-precision processing and hole-making of the robot.

[0043] Among them, the hole-making system has the function of measuring the normal vector of the section at the processing point; the camera is used to update and correct the theoretical posture value of the robot's hole-making.

[0044] S2, based on the full closed-loop control system constructed in step S1, enter the process preparation stage before the robot high-precision hole making, and obtain the corrected theoretical value of the hole to be processed;

[0045] S21, the fully closed-loop control system imports the processing technology database, and uses the offline programming software to plan the robot hole-making path trajectory points according to the processing technology database;

[0046] The processing technology database includes: processed material, processed thickness, product curvature, hole position, hole diameter, hole normal, countersink depth, and reference hole position.

[0047] S22, using a laser tracker posture measurement system to calibrate the robot base coordinate system, the tooling coordinate system, and the robot terminal hole making system coordinate system, and to track the robot terminal hole making system posture in real time, thereby obtaining a real-time posture relationship between the terminal hole making system coordinate system and the robot base coordinate system;

[0048] The tracking range of the laser tracker position and posture measurement system covers the reachable space of the robot, and the robot end hole making system moves within the reachable range of the robot and the measurement range of the laser tracker position and posture measurement system.

[0049] S23, based on steps S21 and S22, the terminal hole making system visual camera detects the reference hole, runs the theoretical value hole position correction algorithm, and realizes the correction and update of the theoretical position value of the hole to be processed by the robot;

[0050] The theoretical value hole position correction algorithm is as follows: Figure 2 As shown, according to the camera installed on the robot end hole making system, based on the theoretical position data of the reference hole of the machined workpiece in the database integrated in step S21, the measurement value of the laser tracker posture measurement system in step S22 is used as the real-time posture feedback data of the robot end hole making system, and the robot end hole making system is moved to the theoretical position of the reference hole. The camera takes a picture of the reference hole, and the theoretical value hole position correction algorithm integrated in the collaborative control host computer in the full closed-loop control system is used to perform error analysis on the theoretical value of the reference hole of the machined workpiece and the actual measurement value of the end effector camera, so as to realize the correction and update of the theoretical position value of the robot's hole to be processed.

[0051] S3, based on step S2, entering the process execution stage of high-precision hole making by the robot, and completing the full closed-loop processing of the hole making process of the processed parts;

[0052] S31, based on the closed-loop position control algorithm, the robot end hole making system is operated to the hole position to be made, and the robot hole making system operates the adaptive normal vector adjustment algorithm to adjust the normal vector;

[0053] The closed-loop position control algorithm is as follows Figure 3 As shown; the adaptive normal vector adjustment algorithm is as follows Figure 4 shown.

[0054] S32, based on step S31, after the normal vector deviation adjustment is completed, the host computer issues a hole making instruction to the robot terminal hole making system, and performs hole making based on the processing technology database of the hole to be processed in step S21;

[0055] S33. Based on step S32, determine whether the robot has completed processing of all the holes to be processed. If not, return to step S31 and repeat steps S31 and S32 until all the holes to be processed of the workpiece are completed, thus completing the full closed-loop processing of the hole-making process of the processed parts.

[0056] In this embodiment, step S22 is specifically as follows:

[0057] The laser tracker position measurement system calibrates the robot base coordinate system, the tooling coordinate system, and the robot end hole making system coordinate system to obtain the transformation matrix relative to the laser tracker position measurement system coordinate system. The transformation matrix is ​​used Indicates that the robot base coordinate system is used as the world coordinate system.

[0058] Among them, L represents the coordinate system of the laser tracker position measurement system, B represents the robot base coordinate system, F represents the tooling coordinate system, and E represents the robot end hole making system coordinate system.

[0059] The transformation matrix is ​​used to set the position relationship between the robot end hole making system coordinate system and the robot base coordinate system indicates that, and When the robot drives the terminal hole-making system to move in space, the laser tracker position measurement system tracks the terminal hole-making system in real time and measures its position and posture, and obtains the real-time position and posture relationship between the terminal hole-making system and the robot base coordinate system. The position and posture relationship is calculated through the transformation matrix The transformation matrix of the tooling coordinate system relative to the robot base coordinate system is obtained: and

[0060] like Figure 2 As shown, in this embodiment, the step S23 is specifically as follows:

[0061] First, based on the theoretical position data of the reference hole of the workpiece to be processed in the processing technology database in step S21, the robot end hole making system is moved to the reference hole of the workpiece to be processed by the tooling, and the camera of the robot end hole making system takes a picture of the reference hole, and all the reference holes are photographed and saved.

[0062] Then calculate the actual position information of the reference hole, that is, calculate the position coordinates P of the reference hole in the image relative to the camera coordinate system through the internal and external parameter matrix of the camera Ci , i represents any reference hole. The transformation matrix of the camera coordinate system relative to the robot end hole making system coordinate system can be obtained by calibrating the laser tracker position measurement system.

[0063] Where C represents the camera coordinate system, P Ci The coordinates relative to the robot base coordinate system are

[0064] The position coordinates P of all reference holes calculated by the camera relative to the robot base coordinate system Bi The deviation is calculated with the theoretical coordinate value of the reference hole in step S21 (to obtain the deviation matrix), and the hole position coordinates (theoretical position information of the holes to be processed) in the database of all holes to be processed are updated and corrected based on the deviation between the theoretical value and the actual measured value of the reference hole, so as to obtain the corrected theoretical value of the holes to be processed, that is, more accurate theoretical position coordinates of the points to be processed, thereby realizing the precision of the theoretical position points of the holes to be processed.

[0065] In this embodiment, the step S31 is specifically as follows:

[0066] S311, such as Figure 3 As shown, the robot end hole making system is accurately moved to the hole to be processed based on the closed-loop position control algorithm, that is, the robot moves to the theoretical position of the point to be processed based on the robot path planning point in step S21 after being updated in step S23;

[0067] In the closed-loop position control algorithm, the theoretical pose coordinates of the hole to be processed by the terminal hole-making system updated in step S23 are used as the target value, and the measurement value of the robot terminal hole-making system by the laser tracker pose measurement system is used as the real-time pose feedback value. Then, the deviation between the actual pose value and the theoretical pose value of the robot terminal hole-making system at the hole to be processed is calculated, and the real-time pose correction of the machine terminal hole-making system is performed based on the deviation until the deviation between the measured actual pose value and the theoretical pose value meets the error requirement.

[0068] S312, such as Figure 4 As shown, based on step S311, the robot end hole making system measures the normal vector of the workpiece at the hole to be processed through the normal vector measurement function, and uses the deviation value obtained by the normal measurement as the posture deviation feedback at the point, and according to the posture deviation feedback at the hole to be processed, the posture of the robot end hole making system is corrected and adjusted through the normal vector adaptive adjustment algorithm until the measured normal vector deviation meets the accuracy requirement, and the normal vector deviation correction is stopped.

[0069] In summary, the method of the present invention improves the robot's hole-making accuracy through posture correction and compensation processing at different stages during hole-making process preparation and process execution, while forming a full closed loop of the hole-making process, improving processing efficiency and better meeting the accuracy requirements of industrial robot hole-making.

[0070] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A fully closed-loop control method for high-precision hole making by a robot, the specific steps are as follows: S1. Build a fully closed-loop control system for high-precision hole making by robots; The fully closed-loop control system includes arranging a laser tracker posture measurement system at a safe distance of the industrial robot, and installing a hole-making system at the end of the robot, and installing a camera in the hole-making system at the end of the robot; then using an integrated collaborative control host computer to combine the laser tracker posture measurement system and the hole-making system, that is, combining "laser tracker + visual system + robot processing" together, establishing a closed-loop control logic of "measurement-solution-compensation", and realizing high-precision processing and hole-making of the robot; in, The hole making system has the function of measuring the normal vector of the section at the processing point; the camera is used to update and correct the theoretical posture value of the robot for hole making; S2, based on the full closed-loop control system constructed in step S1, enter the process preparation stage before the robot high-precision hole making, and obtain the corrected theoretical value of the hole to be processed; S21, the fully closed-loop control system imports the processing technology database, and uses the offline programming software to plan the robot hole-making path trajectory points according to the processing technology database; The processing technology database includes: processed material, processed thickness, product curvature, hole position, hole diameter, hole normal, countersink depth, and reference hole position; S22, using a laser tracker posture measurement system to calibrate the robot base coordinate system, the tooling coordinate system, and the robot terminal hole making system coordinate system, and to track the robot terminal hole making system posture in real time, thereby obtaining a real-time posture relationship between the terminal hole making system coordinate system and the robot base coordinate system; The tracking range of the laser tracker position and posture measurement system covers the reachable space of the robot, and the robot end hole making system moves within the reachable range of the robot and the measurement range of the laser tracker position and posture measurement system; S23, based on steps S21 and S22, the terminal hole making system visual camera detects the reference hole, runs the theoretical value hole position correction algorithm, and realizes the correction and update of the theoretical position value of the hole to be processed by the robot; According to the camera installed on the robot end hole making system, based on the theoretical position data of the reference hole of the workpiece in the database integrated in step S21, the measurement value of the laser tracker posture measurement system in step S22 is used as the real-time posture feedback data of the robot end hole making system, and the robot end hole making system is moved to the theoretical position of the reference hole. The camera takes a picture of the reference hole, and the theoretical value hole position correction algorithm integrated in the collaborative control host computer in the full closed-loop control system is used to perform error analysis on the theoretical value of the reference hole of the workpiece and the actual measurement value of the end effector camera, so as to realize the correction and update of the theoretical position value of the hole to be processed by the robot; S3, based on step S2, entering the process execution stage of high-precision hole making by the robot, and completing the full closed-loop processing of the hole making process of the processed parts; S31, based on the closed-loop position control algorithm, the robot end hole making system is operated to the hole position to be made, and the robot hole making system operates the adaptive normal vector adjustment algorithm to adjust the normal vector; S32, based on step S31, after the normal vector deviation adjustment is completed, the host computer issues a hole making instruction to the robot terminal hole making system, and performs hole making based on the processing technology database of the hole to be processed in step S21; S33. Based on step S32, determine whether the robot has completed processing of all the holes to be processed. If not, return to step S31 and repeat steps S31 and S32 until all the holes to be processed of the workpiece are completed, thus completing the full closed-loop processing of the hole-making process of the processed parts.

2. A fully closed-loop control method for high-precision hole making by a robot according to claim 1, characterized in that: The step S22 is specifically as follows: The laser tracker position measurement system calibrates the robot base coordinate system, the tooling coordinate system, and the robot end hole making system coordinate system to obtain the transformation matrix relative to the laser tracker position measurement system coordinate system. The transformation matrix is ​​used Indicates that the robot base coordinate system is used as the world coordinate system; Among them, L represents the coordinate system of the laser tracker position measurement system, B represents the robot base coordinate system, F represents the tooling coordinate system, and E represents the robot end hole making system coordinate system; The transformation matrix is ​​used to set the position relationship between the robot end hole making system coordinate system and the robot base coordinate system indicates that, and When the robot drives the terminal hole-making system to move in space, the laser tracker position measurement system tracks the terminal hole-making system in real time and measures its position and posture, and obtains the real-time position and posture relationship between the terminal hole-making system and the robot base coordinate system. The position and posture relationship is calculated through the transformation matrix The transformation matrix of the tooling coordinate system relative to the robot base coordinate system is obtained: and 3. A fully closed-loop control method for high-precision hole making by a robot according to claim 1, characterized in that: The step S23 is specifically as follows: First, based on the theoretical position data of the reference hole of the workpiece to be processed in the processing technology database in step S21, the robot end hole making system is moved to the reference hole of the workpiece to be processed by the tooling, and the camera of the robot end hole making system takes a picture of the reference hole, and all the reference holes are photographed and saved; Then calculate the actual position information of the reference hole, that is, calculate the position coordinates P of the reference hole in the image relative to the camera coordinate system through the internal and external parameter matrix of the camera Ci , i represents any reference hole. The transformation matrix of the camera coordinate system relative to the robot end hole making system coordinate system can be obtained by calibrating the laser tracker position measurement system. Where C represents the camera coordinate system, P Ci The coordinates relative to the robot base coordinate system are The position coordinates P of all reference holes calculated by the camera relative to the robot base coordinate system Bi The deviation is calculated with the theoretical coordinate value of the reference hole in step S21, and the hole position coordinates of all holes to be processed in the database are updated and corrected based on the deviation between the theoretical value and the actual measurement value of the reference hole to obtain the corrected theoretical value of the hole to be processed, that is, more accurate theoretical position coordinates of the point to be processed, thereby realizing the precision of the theoretical position points of the holes to be processed.

4. A fully closed-loop control method for high-precision hole making by a robot according to claim 1, characterized in that: The step S31 is specifically as follows: S311, based on the closed-loop position control algorithm, the robot end hole making system is accurately moved to the hole to be processed, that is, the robot moves to the theoretical position of the point to be processed based on the updated point in step S23 based on the robot path planning point in step S21; In the closed-loop position control algorithm, the theoretical pose coordinates of the hole to be processed by the terminal hole-making system updated in step S23 are used as the target value, and the measurement value of the robot terminal hole-making system by the laser tracker pose measurement system is used as the real-time pose feedback value; then the deviation between the actual pose value and the theoretical pose value of the robot terminal hole-making system at the hole to be processed is calculated, and the real-time pose correction of the machine terminal hole-making system is performed based on the deviation until the deviation between the measured actual pose value and the theoretical pose value meets the error requirement; S312. Based on step S311, the robot end hole making system measures the normal vector of the workpiece at the hole to be processed through the normal vector measurement function, and uses the deviation value obtained by the normal measurement as the posture deviation feedback at the point. According to the posture deviation feedback at the hole to be processed, the posture of the robot end hole making system is corrected and adjusted through the normal vector adaptive adjustment algorithm until the measured normal vector deviation meets the accuracy requirement, and the normal vector deviation correction is stopped.

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