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High accuracy mobile robot positioning using external large volume metrology instruments


Reference:

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.

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    Official URL:

    http://dx.doi.org/10.1080/0951192x.2011.554868

    Abstract

    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.

    Details

    Item Type Articles
    CreatorsWang, Z., Liang, M. and Maropoulos, P. G.
    DOI10.1080/0951192x.2011.554868
    Uncontrolled Keywordslaser tracker, metrology, automated guided vehicle, igps
    DepartmentsFaculty of Engineering & Design > Mechanical Engineering
    Publisher StatementWang_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
    RefereedYes
    StatusPublished
    ID Code23856
    Additional InformationProceedings paper from 6th International Conference on Digital Enterprise Technology, 14-16 December 2009, Hong Kong, China. Sp. Iss. SI

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