High accuracy mobile robot positioning using an external large volume metrology instrument
Wang, Z., Liang, M. and Maropoulos, P. G., 2010. High accuracy mobile robot positioning using an external large volume metrology instrument. In: Huang, G. Q., Mak, K. L. and Maropoulos, P. G., eds. Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. Vol. 66. Springer-Verlag, pp. 621-630. (Advances in Intelligent and Soft Computing)
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A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as the laser tracker in mobile robot navigation, many of the most difficult problems in mobile robot navigation can be simplified or avoided. Using the real-time position information from the laser tracker, a very simple navigation algorithm, and a low cost robot, 5mm repeatability was achieved over a volume of 30m radius. A surface digitization scan of a wind turbine blade section was also demonstrated, illustrating possible applications of the method for manufacturing processes.
|Item Type||Book Sections|
|Creators||Wang, Z., Liang, M. and Maropoulos, P. G.|
|Editors||Huang, G. Q., Mak, K. L. and Maropoulos, P. G.|
|Uncontrolled Keywords||laser tracker, control, metrology, navigation, robot|
|Departments||Faculty of Engineering & Design > Mechanical Engineering|
|Additional Information||6th International Conference on Digital Enterprise Technology Dec 14-16, 2009. Hong Kong, Peoples Republic of China|
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