This study proposes a novel robotic machining system designed for the cooperative operation of multiple robotic machining units targeting medium- and large-sized workpieces. The system integrates several key technologies to achieve precise and autonomous machining. First, a laser projector is used to unify the coordinate systems of the workpiece, jigs, and robotic units, ensuring accurate spatial alignment. In addition, positional deviations are calculated from the captured projection image and used to compensate for the machining positions. To evaluate the effectiveness of the image-based compensation method, machining experiments were conducted using a 5-axis kinematic machine tool (XMINI) equipped with the camera. In the experiment, compensation was applied under the condition that the camera was positioned perpendicular to the workpiece surface and the target shape was captured at the center of the camera’s field of view. Under these conditions, four holes were drilled, and all of them were compensated for the axial deviations were reduced to within 0.01 mm. The final machining results converged in the target positional deviation of 0.7 mm for all holes. However, rotational compensation (Rz) was insufficient due to the kinematic characteristics of the XMINI. These results validate the feasibility of the proposed system and underscore the importance of stable imaging geometry and mechanical constraints for achieving consistent machining accuracy.
Endo et al. (Wed,) studied this question.