Method and arrangement of introducing boreholes into a surface of a workpiece mounted in a stationary manner using a boring tool attached to an articulated-arm robot

A method of boring holes into a workpiece while mounted in a stationary position by a boring tool attached to an end face of an articulated-arm robot, comprising:

• positioning the articulated-arm robot at a position spaced a distance from a machining location on a workpiece surface;
• providing a rigid mechanical connection between the articulated-arm robot and the workpiece surface to support the workpiece under load and which can release the workpiece surface from the load by activating at least three actuators attached to the end face of the articulated-arm robot which are separately actuatable in increments to contact the workpiece surface to apply the load or release the workpiece from the load, the articulated-arm robot operating being positioned to apply the load by contact with the workpiece when the boring tool is boring a hole in the workpiece or to release the workpiece from load;
• boring the hole in the workpiece surface by moving the boring tool towards the machining location on the workpiece and subsequentially engaging the boring tool with the workpiece surface at the machining location while the actuators of the articulated-arm robot are connected to the workpiece surface to apply the load thereto;
• moving the boring tool towards the workpiece surface under control of a numerically controlled advance unit attached to an end of the articulated-arm robot;
• monitoring the boring of the hole in the workpiece surface based on information obtained from a sensor system which detects a position of the boring tool during boring of the workpiece surface and which is attached to the end face of the articulated-arm robot;
• terminating the boring process upon reaching a specified boring depth;
• positioning the boring tool before boring based on binary data which describes a spatial shape of the workpiece to be machined, a predetermined machining location of the workpiece surface, a center point of the tool, and a spatial position of the boring tool;
• and
• generating at least one of a workpiece coordinate system and a robot coordinate system when the load is applied to the workpiece by the actuators before starting of the boring and then at least one of the coordinate systems are used to control the boring by the boring tool while the load is applied by the actuators.