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.

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