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A method of noncontact laser distance measurement is proposed for the digital drilling and riveting of complex surface. By means of measurement resulting from locating devices, the normal direction of measured region on curved surface is evaluated. The posture of end-effector fixed on the end of industrial robot is adjusted to feed along the evaluated normal direction. The datum plane for calibration is derived using the least square plane fitting method. The position and posture of locating devices are calibrated on the basis of the distances between locating devices and datum plane. The normal direction of measured area is derived from the distances measured by locating devices. A numerical example illustrates the correctness of the proposed method. The method can be used for positioning and attitude-adjusting for digital manufacturing and assembly.

Based on the characteristics of huge and heavy aircraft blocks merging technology, the application of multi-robot coordination in a merging system for posture alignment is studied. Focusing on the fundamental theories and key technologies of multi-robot coordination system, the system architecture of multiple 3-DOF mobile robots, organization and posture coordinated manipulation method are proposed. By virtue of the blocks merging technology, the blocks' kinematic model is expressed as a body moving with limited linear displacement and rotating with small angular displacement. The coordinates transformation between basic block, merging block and single robot is achieved on the basis of large subassembly merging technology. The trajectory planning method of posture aligning by means of Denavit-Hartenberg method is presented. The proposed method incorporates the behavior of robots and experiences of aircraft blocks mergence into multi-robot coordination.