Wang, Z., Liang, M. and Maropoulos, P. G., 2011. High accuracy mobile robot positioning using external large volume metrology instruments. International Journal of Computer Integrated Manufacturing, 24 (5), pp. 484-492.
A method of accurately controlling the position of a mobile robot using an external large volume metrology (LVM) instrument is presented in this article. By utilising an LVM instrument such as a laser tracker or indoor GPS (iGPS) 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, 5 mm repeatability was achieved over a volume of 30 m radius. A surface digitisation scan of a wind turbine blade section was also demonstrated, illustrating possible applications of the method for manufacturing processes. Further, iGPS guidance of a small KUKA omni-directional robot has been demonstrated, and a full scale prototype system is being developed in cooperation with KUKA Robotics, UK.
|Item Type ||Articles|
|Creators||Wang, Z., Liang, M. and Maropoulos, P. G.|
|Uncontrolled Keywords||laser tracker, metrology, automated guided vehicle, igps|
|Departments||Faculty of Engineering & Design > Mechanical Engineering|
|Publisher Statement||Wang_JCIM_2011_24_5_484.pdf: This is an electronic version of an article published in: Wang, Z., Liang, M. and Maropoulos, P. G., 2011. High accuracy mobile robot positioning using external large volume metrology instruments. International Journal of Computer Integrated Manufacturing, 24 (5), pp. 484-492. International Journal of Computer Integrated Manufacturing is available online at: http://www.informaworld.com/openurl?genre=article&issn=0951%2d192X&volume=24&issue=5&spage=484|
|Additional Information||Proceedings paper from 6th International Conference on Digital Enterprise Technology, 14-16 December 2009, Hong Kong, China. Sp. Iss. SI|
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