A full closed loop control method for high-precision hole drilling of a robot

Abstract

The application discloses a kind of robot high-precision hole making full closed loop control method, based on industrial robot, laser tracker pose measurement system, end hole making executor system and integrated collaborative control host computer, respectively to the theoretical value of point to be processed is updated and corrected processing, the measured value of laser tracker pose measurement system is as the real-time pose feedback of end hole making executor, realizes the closed loop pose control of robot, based on the normal vector measurement function of end hole making system, realizes the normal vector correction compensation of end hole making system hole to be processed, completes the full closed loop processing of hole making process to processing component.The method of the application improves the accuracy of robot processing and hole making through the pose correction compensation processing in different stages of hole making process preparation and process execution process, forms the full closed loop of hole making process while improving the accuracy of robot processing and hole making, improves processing efficiency, better satisfy the accuracy requirement of industrial robot processing and hole making.

Description

Technical Field

[0001] This invention belongs to the field of robotic automated processing technology, specifically relating to a fully closed-loop control method for high-precision hole making by a robot. Background Technology

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

[0003] Currently, to improve the performance of aircraft in all aspects, higher requirements are placed on their structural scattering area, maneuver load, and design life, which in turn imposes stringent requirements on assembly quality and the integrity of the skin's outer surface. In aircraft design and manufacturing, many aircraft components utilize thin-walled, weak-rigidity laminated structures with numerous connecting holes on their surfaces. Robotic drilling offers flexibility, good processability, environmental adaptability, and manufacturing flexibility, enabling in-situ machining of large structural components. Furthermore, using robotic drilling can minimize aircraft assembly manufacturing costs, reduce the footprint of large automated drilling equipment, and decrease the number of operators required. Therefore, research on robotic drilling is of great significance.

[0004] However, the robot itself has low absolute positioning accuracy, and its hole-making position accuracy, normal adjustment accuracy, and countersink accuracy cannot meet the processing requirements of large-size integral structures. Furthermore, the research on high-precision hole-making technology for robots is still insufficient at present, and the control method for hole-making by fully closed-loop control robots is not complete enough. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a fully closed-loop control method for high-precision hole making by a robot. Based on a laser tracker pose measurement system, the robot end effector hole making system, and an industrial robot collaborate to meet the positional accuracy, normal adjustment accuracy, and countersinking accuracy of the robot hole making process, thereby completing a fully closed-loop machining process for the hole making of the workpiece and improving hole making efficiency and quality.

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

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

[0008] The fully closed-loop control system includes a laser tracker pose measurement system deployed at a safe distance from the industrial robot, and a hole-making system installed at the robot's end effector, with a camera installed on the end effector hole-making system. Then, an integrated collaborative control host computer is used to combine the laser tracker pose measurement system and the hole-making system, that is, to combine the "laser tracker + vision system + robot processing" together to establish a closed-loop control logic of "measurement-calculation-compensation" to achieve high-precision hole-making by the robot.

[0009] The hole-making system has the function of measuring the normal vector of the tangent surface at the processing point; the camera is used to update and correct the theoretical pose value of the robot hole-making.

[0010] S2. Based on the fully closed-loop control system constructed in step S1, the system enters the process preparation stage before the robot makes high-precision holes, and obtains the corrected theoretical value of the hole to be processed.

[0011] S21. The fully closed-loop control system imports the machining process database and uses offline programming software to plan the robot hole-making path trajectory points based on the machining process database.

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

[0013] S22. Use a laser tracker pose measurement system to calibrate the robot base coordinate system, tooling coordinate system, and robot end-effector hole-making system coordinate system, and perform real-time tracking of the robot end-effector hole-making system pose to obtain the real-time pose relationship between the end-effector hole-making system coordinate system and the robot base coordinate system.

[0014] The tracking range of the laser tracker pose measurement system covers the space accessible to the robot's movement, and the robot end effector hole-making system moves within the robot's accessible range and the measurement range of the laser tracker pose measurement system.

[0015] S23. Based on steps S21 and S22, the end-effector hole-making system's vision camera detects the reference hole and runs the theoretical value hole position correction algorithm to correct and update the theoretical position value of the hole to be processed on the robot.

[0016] Based on the camera installed on the robot end effector hole-making system, and using 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 pose measurement system in step S22 is used as the real-time pose feedback data of the robot end effector hole-making system. The robot end effector hole-making system is moved to the theoretical position of the reference hole, and the camera takes a picture of the reference hole. The theoretical value hole position correction algorithm in the integrated collaborative control host computer of the fully closed-loop control system is used to perform error analysis between 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.

[0017] S3. Based on step S2, enter the process execution stage of high-precision hole making by the robot, and complete the closed-loop processing of hole making process of the processed parts.

[0018] S31. Based on the closed-loop position control algorithm, the robot end-effector hole-making system is moved to the hole position to be made, and the robot hole-making system runs an 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 command to the robot end-effector 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 finished processing 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 on the workpiece are processed, thus completing the closed-loop processing of the hole-making process of the workpiece.

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

[0022] The laser tracker pose measurement system calibrates the robot's base coordinate system, tooling coordinate system, and robot end effector hole-making system coordinate system, obtaining the transformation matrices between these coordinate systems and the laser tracker pose measurement system coordinate system. These transformation matrices are then used... This indicates that the robot's base coordinate system will be used as the world coordinate system.

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

[0024] The pose relationship between the robot's end effector hole-making system coordinate system and the robot's base coordinate system is defined using a transformation matrix. It means, and As the robot moves the end-effector drilling system in space, the laser tracker pose measurement system tracks the end-effector drilling system in real time and measures its pose, obtaining the real-time pose relationship between the end-effector drilling system and the robot's base coordinate system. This pose relationship is then analyzed using a transformation matrix. The transformation matrix between the tooling coordinate system and the robot base coordinate system is obtained as follows: and

[0025] Furthermore, step S23 is as follows:

[0026] First, based on the theoretical position data of the reference hole of the workpiece in the machining process database in step S21, the robot end-effector hole-making system is moved to the reference hole of the workpiece to be machined by the tooling. The camera of the robot end-effector hole-making system takes a picture of the reference hole and saves all the reference holes.

[0027] Then, the actual position information of the reference hole is calculated, that is, the position coordinates P of the reference hole relative to the camera coordinate system in the image are calculated using the camera's intrinsic and extrinsic parameter matrices. Ci Let i represent any reference hole. The transformation matrix between the camera coordinate system and the robot end effector hole-making system coordinate system can be obtained by calibration using the laser tracker pose measurement system.

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

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

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

[0031] S311. Based on the closed-loop position control algorithm, the robot end-effector hole-making system is precisely moved to the hole to be processed, that is, the robot moves from the robot path planning point in step S21 to the theoretical pose of the point to be processed updated in step S23.

[0032] In the closed-loop position control algorithm, the updated theoretical pose coordinates of the hole to be processed by the end-effector drilling system in step S23 are used as the target value, and the measurement value of the robot's end-effector drilling 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's end-effector drilling system at the hole to be processed is calculated. Based on this deviation, the robot's end-effector drilling system is corrected in real time until the deviation between the measured actual pose value and the theoretical pose value meets the error requirements.

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

[0034] The beneficial effects of this invention are as follows: The method of this invention is based on an industrial robot, a laser tracker pose measurement system, an end effector system for drilling, and an integrated collaborative control host computer. It updates and corrects the theoretical values ​​of the points to be processed, uses the measured values ​​from the laser tracker pose measurement system as real-time pose feedback for the end effector to achieve closed-loop pose control of the robot, and uses the normal vector measurement function of the end effector system to correct and compensate the normal vector at the hole to be processed, thus completing a fully closed-loop machining process for drilling parts. This method improves the drilling accuracy of the robot while forming a fully closed-loop drilling process through pose correction and compensation at different stages of drilling process preparation and execution, thereby increasing processing efficiency and better meeting the accuracy requirements of industrial robot drilling. Attached Figure Description

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

[0036] Figure 2 This is a flowchart of the hole position correction algorithm for the camera of the robot end effector hole-making system in an embodiment of the present invention.

[0037] Figure 3 This is a flowchart of the robot's precise closed-loop position control algorithm based on a laser tracker pose measurement system, as described in an embodiment of the present invention.

[0038] Figure 4 This is a flowchart of the adaptive normal vector adjustment algorithm in an embodiment of the present invention. Detailed Implementation

[0039] The method of the present invention will be further described below with reference to the accompanying drawings and embodiments.

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

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

[0042] The fully closed-loop control system includes a laser tracker pose measurement system deployed at a safe distance from the industrial robot, and a hole-making system installed at the robot's end effector, with a camera installed on the end effector hole-making system. Then, an integrated collaborative control host computer is used to combine the laser tracker pose measurement system and the hole-making system, that is, to combine the "laser tracker + vision system + robot processing" together to establish a closed-loop control logic of "measurement-calculation-compensation" to achieve high-precision hole-making by the robot.

[0043] The hole-making system has the function of measuring the normal vector of the tangent surface at the processing point; the camera is used to update and correct the theoretical pose value of the robot hole-making.

[0044] S2. Based on the fully closed-loop control system constructed in step S1, the system enters the process preparation stage before the robot makes high-precision holes, and obtains the corrected theoretical value of the hole to be processed.

[0045] S21. The fully closed-loop control system imports the machining process database and uses offline programming software to plan the robot hole-making path trajectory points based on the machining process database.

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

[0047] S22. Use a laser tracker pose measurement system to calibrate the robot base coordinate system, tooling coordinate system, and robot end-effector hole-making system coordinate system, and perform real-time tracking of the robot end-effector hole-making system pose to obtain the real-time pose relationship between the end-effector hole-making system coordinate system and the robot base coordinate system.

[0048] The tracking range of the laser tracker pose measurement system covers the space accessible to the robot's movement, and the robot end effector hole-making system moves within the robot's accessible range and the measurement range of the laser tracker pose measurement system.

[0049] S23. Based on steps S21 and S22, the end-effector hole-making system's vision camera detects the reference hole and runs the theoretical value hole position correction algorithm to correct and update the theoretical position value of the hole to be processed on the robot.

[0050] The theoretical value hole position correction algorithm is as follows: Figure 2 As shown, based on the camera installed on the robot end effector hole-making system, and 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 pose measurement system in step S22 is used as the real-time pose feedback data of the robot end effector hole-making system. The robot end effector hole-making system is moved to the theoretical position of the reference hole, and the camera takes a picture of the reference hole. The theoretical value hole position correction algorithm in the integrated collaborative control host computer of the full closed-loop control system is used to perform error analysis between 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.

[0051] S3. Based on step S2, enter the process execution stage of high-precision hole making by the robot, and complete the closed-loop processing of hole making process of the processed parts.

[0052] S31. Based on the closed-loop position control algorithm, the robot end-effector hole-making system is moved to the hole position to be made, and the robot hole-making system runs an 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 As shown.

[0054] S32. Based on step S31, after the normal vector deviation adjustment is completed, the host computer issues a hole-making command to the robot end-effector 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 finished processing 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 on the workpiece are processed, thus completing the closed-loop processing of the hole-making process of the workpiece.

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

[0057] The laser tracker pose measurement system calibrates the robot's base coordinate system, tooling coordinate system, and robot end effector hole-making system coordinate system, obtaining the transformation matrices between these coordinate systems and the laser tracker pose measurement system coordinate system. These transformation matrices are then used... This indicates that the robot's base coordinate system will be used as the world coordinate system.

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

[0059] The pose relationship between the robot's end effector hole-making system coordinate system and the robot's base coordinate system is defined using a transformation matrix. It means, and As the robot moves the end-effector drilling system in space, the laser tracker pose measurement system tracks the end-effector drilling system in real time and measures its pose, obtaining the real-time pose relationship between the end-effector drilling system and the robot's base coordinate system. This pose relationship is then analyzed using a transformation matrix. The transformation matrix between the tooling coordinate system and the robot base coordinate system is obtained as follows: and

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

[0061] First, based on the theoretical position data of the reference hole of the workpiece in the machining process database in step S21, the robot end-effector hole-making system is moved to the reference hole of the workpiece to be machined by the tooling. The camera of the robot end-effector hole-making system takes a picture of the reference hole and saves all the reference holes.

[0062] Then, the actual position information of the reference hole is calculated, that is, the position coordinates P of the reference hole relative to the camera coordinate system in the image are calculated using the camera's intrinsic and extrinsic parameter matrices. Ci Let i represent any reference hole. The transformation matrix between the camera coordinate system and the robot end effector hole-making system coordinate system can be obtained by calibration using the laser tracker pose measurement system.

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

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

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

[0066] S311, such as Figure 3 As shown, the robot end effector hole-making system is precisely moved to the hole to be processed based on the closed-loop position control algorithm. That is, the robot moves from the robot path planning point in step S21 to the theoretical pose of the point to be processed updated in step S23.

[0067] In the closed-loop position control algorithm, the updated theoretical pose coordinates of the hole to be processed by the end-effector drilling system in step S23 are used as the target value, and the measurement value of the robot's end-effector drilling 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's end-effector drilling system at the hole to be processed is calculated. Based on this deviation, the robot's end-effector drilling system is corrected in real time until the deviation between the measured actual pose value and the theoretical pose value meets the error requirements.

[0068] S312, such as Figure 4 As shown, based on step S311, the robot end-effector hole-making system measures the normal vector at the hole to be processed on the workpiece through the normal vector measurement function. The deviation value obtained from the normal vector measurement is used as the attitude deviation feedback at that point. Based on the attitude deviation feedback at the hole to be processed, the attitude of the robot end-effector hole-making system is corrected and adjusted through the normal vector adaptive adjustment algorithm until the measured normal vector deviation meets the accuracy requirements, and then the normal vector deviation correction is stopped.

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

[0070] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. A fully closed-loop control method for high-precision hole making by a robot, the specific steps of which are as follows: S1. Construct a fully closed-loop control system for high-precision hole making by a robot; The fully closed-loop control system includes a laser tracker pose measurement system deployed at a safe distance from the industrial robot, and a hole-making system installed at the robot's end effector, with a camera installed on the end effector hole-making system. Then, an integrated collaborative control host computer is used to combine the laser tracker pose measurement system and the hole-making system, that is, to combine the laser tracker, vision system and robot processing together to establish a closed-loop control logic of measurement-calculation-compensation, so as to realize high-precision hole-making by the robot. in, The hole-making system has the function of measuring the normal vector of the tangent at the processing point; the camera is used to update and correct the theoretical pose value of the robot hole-making. S2. Based on the fully closed-loop control system constructed in step S1, the system enters the process preparation stage before the robot makes high-precision holes, and obtains the corrected theoretical value of the hole to be processed. S21. The fully closed-loop control system imports the machining process database and uses offline programming software to plan the robot hole-making path trajectory points based on the machining process database. The processing technology database includes: the material to be processed, the thickness to be processed, the curvature of the product, the hole position, the hole diameter, the hole normal, the countersink depth, and the reference hole position; S22. Use a laser tracker pose measurement system to calibrate the robot base coordinate system, tooling coordinate system, and robot end-effector hole-making system coordinate system, and perform real-time tracking of the robot end-effector hole-making system pose to obtain the real-time pose relationship between the end-effector hole-making system coordinate system and the robot base coordinate system. The tracking range of the laser tracker pose measurement system covers the space accessible to the robot's movement, and the robot end effector hole-making system moves within the robot's accessible range and the measurement range of the laser tracker pose measurement system. S23. Based on steps S21 and S22, the end-effector hole-making system's vision camera detects the reference hole and runs the theoretical value hole position correction algorithm to correct and update the theoretical position value of the hole to be processed on the robot. Based on the camera installed on the robot end effector hole-making system, and 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 pose measurement system in step S22 is used as the real-time pose feedback data of the robot end effector hole-making system. The robot end effector hole-making system is moved to the theoretical position of the reference hole, and the camera takes a picture of the reference hole. The theoretical value hole position correction algorithm in the integrated collaborative control host computer of the full closed-loop control system is used to perform error analysis between 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, enter the process execution stage of high-precision hole making by the robot, and complete the closed-loop processing of hole making process of the processed parts. S31. Based on the closed-loop position control algorithm, the robot end-effector hole-making system is moved to the hole position to be made, and the robot hole-making system runs an 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 command to the robot end-effector 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 finished processing 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 on the workpiece are processed, thus completing the closed-loop processing of the hole-making process of the workpiece.

2. The fully closed-loop control method for high-precision hole making by a robot according to claim 1, characterized in that, The specific steps of S22 are as follows: The laser tracker pose measurement system calibrates the robot's base coordinate system, tooling coordinate system, and robot end effector hole-making system coordinate system, obtaining the transformation matrix between these coordinate systems and the laser tracker pose measurement system coordinate system. The transformation matrix is ​​then used... This indicates that the robot's base coordinate system will be used as the world coordinate system; Where L represents the coordinate system of the laser tracker pose measurement system, B represents the robot base coordinate system, F represents the tooling coordinate system, and E represents the coordinate system of the robot end effector hole making system; The pose relationship between the robot's end effector hole-making system coordinate system and the robot's base coordinate system is defined using a transformation matrix. It means, and As the robot moves the end effector drilling system in space, the laser tracker pose measurement system tracks the end effector drilling system in real time and measures its pose, obtaining the real-time pose relationship between the end effector drilling system and the robot's base coordinate system. This pose relationship is then analyzed using a transformation matrix. The transformation matrix between the tooling coordinate system and the robot base coordinate system is obtained as follows: ,and .

3. The fully closed-loop control method for high-precision hole making by a robot according to claim 1, characterized in that, Step S23 is as follows: First, based on the theoretical position data of the reference hole of the workpiece in the machining process database in step S21, the robot end-effector hole-making system is moved to the reference hole of the workpiece to be machined by the tooling. The camera of the robot end-effector hole-making system takes a picture of the reference hole and saves all the reference holes. Then, the actual position information of the reference hole is calculated, that is, the position coordinates of the reference hole relative to the camera coordinate system in the image are calculated using the camera's intrinsic and extrinsic parameter matrices. Let i represent any reference hole. The transformation matrix between the camera coordinate system and the robot end effector hole-making system coordinate system can be obtained by calibration using the laser tracker pose measurement system. ; Where C represents the camera coordinate system, The coordinates relative to the robot's base coordinate system are ; The position coordinates of all reference holes relative to the robot's base coordinate system obtained from the images captured by the camera. The deviation is calculated from the theoretical coordinate value of the reference hole in step S21. Based on the deviation between the theoretical value and the actual measured value of the reference hole, the hole position coordinates in the database of all holes to be processed are updated and corrected to obtain the corrected theoretical value of the hole to be processed, that is, the more accurate theoretical position coordinates of the point to be processed, thereby realizing the accuracy of the theoretical position point of the hole to be processed.

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

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