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.
High accuracy mobile robot positioning using external large volume metrology instruments
2011-05-01
Wang , Z , Liang , M & Maropoulos , P G 2011 , ' High accuracy mobile robot positioning using external large volume metrology instruments ' , International Journal of Computer Integrated Manufacturing , vol. 24 , no. 5 , pp. 484-492 . https://doi.org/10.1080/0951192x.2011.554868
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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