Research and Development of High Precision Robot Automatic Docking System Based on mxAutomation

Abstract

In this paper we designs an automatic docking system to simulate the precision docking of the key components in aerospace assembly line. By using the robot to make the actual measurement of the experimental workpiece, we figure out the spatial coordinate system of the workpiece which correspond to the robot world coordinate system. This coordinate system is used to automatically control the robot to calculate the motion trajectory and complete the precision docking work. This system is characterized by the use of Siemens PLC to control the KUKA robot dynamically through the KUKA-TIA-Library interface, which can meet the requirements of flexibility and customization in aerospace industry.