The machining system based on an industrial robot is a new type of equipment to meet the requirements of high quality, high efficiency and high flexibility for large and complex components of aircraft and spacecraft. The error compensation technology is widely used in robotic machining to improve the positioning accuracy of an industrial robot with the intention of meeting the precision requirements of aerospace manufacturing. However, the robot’s positioning accuracy decreases significantly when the orientation of the tool changes dramatically. This stems from the fact that the existing robot compensation methods ignore the uncertainties of Tool Center Point (TCP) calibration. This paper presents a novel regionalized compensation method for improving the positioning accuracy of the robot with calibration uncertainties and large orientation variation of the TCP. The method is experimentally validated through the drilling of curved surface parts of plexiglass using a KUKA KR2830MT robot. Compared with a published error compensation method, the proposed approach improves the positioning accuracy of the robot under the large orientation variation to 0.235 mm. This research can broaden the field of robot calibration technology and further improve the adaptability of robotic machining.

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The alleviation of drug-induced liver injury has been a long-term public health concern. Growing evidence suggests that endoplasmic reticulum (ER) stress plays a critical role in the pathogenesis of drug-induced hepatotoxicity. Therefore, the inhibition of ER stress has gradually become one of the important pathways to alleviate drug-induced liver injury. In this work, we developed an ER-targeted photoreleaser, ERC, for controllable carbon monoxide (CO) release with a near-infrared light trigger. By employing peroxynitrite (ONOO–) as an imaging biomarker of hepatotoxicity, the remediating effect of CO was mapped upon drug acetaminophen (APAP) challenge. The direct and visual evidence of suppressing oxidative and nitrosative stress by CO was obtained both in living cells and in mice. Additionally, the ER stress inhibiting the effect of CO was verified during drug-induced hepatotoxicity. This work demonstrated that CO may be employed as a potent potential antidote for APAP-related oxidative and nitrative stress remediation.

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