This paper describes a methodology for using a cooperative robotic system for performing riveting tasks automatically within the context of a fuselage assembly process. Two high payload industrial robots manipulators are used and equipped with end-effectors for performing the tasks. The cooperative work between the controllers is performed using real time communication network architecture to exchange data and provide the necessary information to connect the controllers. The master robot carries the tool for drilling and riveting and the slave robot, the tool needed to complement the process. Software hosted in industrial computers controls the tasks of the two end- effectors and exchanges data with the robot controllers using the OPC (OLE for process control) protocol. The program commands used to perform the synchronization of path motions and the geometric coupling between the two robots is presented. Experiments were performed to investigate the cooperative robotic system effectiveness and to analyze the viability for applying this method in a local aeronautic company. These are described in detail.
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