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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    Titel :

    High accuracy mobile robot positioning using external large volume metrology instruments


    Beteiligte:
    Wang, Zheng (Autor:in) / Liang, M. (Autor:in) / Maropoulos, Paul G. (Autor:in)

    Erscheinungsdatum :

    2011-05-01


    Anmerkungen:

    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



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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