High accuracy mobile robot positioning using an external large volume metrology instrument

Zheng Wang, Min Liang, Paul G. Maropoulos

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as the laser tracker 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, 5mm repeatability was achieved over a volume of 30m radius. A surface digitization scan of a wind turbine blade section was also demonstrated, illustrating possible applications of the method for manufacturing processes. © Springer-Verlag Berlin Heidelberg 2010.

    Original languageEnglish
    Title of host publicationProceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology
    EditorsGeorge Q. Huang, K.L. Mak, Paul G. Maropoulos
    Place of PublicationBerlin (DE)
    PublisherSpringer
    Pages621-630
    Number of pages10
    ISBN (Electronic)978-3-642-10430-5
    ISBN (Print)978-3-6421-0429-9
    DOIs
    Publication statusPublished - 2010
    Event6th CIRP International Conference on Digital Enterprise Technology - Hong Kong, China
    Duration: 14 Dec 200916 Dec 2009

    Publication series

    NameAdvances in Intelligent and Soft Computing
    PublisherSpringer
    Volume66
    ISSN (Print)1867-5662

    Conference

    Conference6th CIRP International Conference on Digital Enterprise Technology
    Abbreviated titleDET 2009
    CountryChina
    CityHong Kong
    Period14/12/0916/12/09

    Fingerprint

    Mobile robots
    Navigation
    Lasers
    Analog to digital conversion
    Wind turbines
    Turbomachine blades
    Robots
    Costs

    Keywords

    • laser tracker
    • control
    • metrology system
    • navigation
    • robot

    Cite this

    Wang, Z., Liang, M., & Maropoulos, P. G. (2010). High accuracy mobile robot positioning using an external large volume metrology instrument. In G. Q. Huang, K. L. Mak, & P. G. Maropoulos (Eds.), Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology (pp. 621-630). (Advances in Intelligent and Soft Computing; Vol. 66). Berlin (DE): Springer. https://doi.org/10.1007/978-3-642-10430-5_48
    Wang, Zheng ; Liang, Min ; Maropoulos, Paul G. / High accuracy mobile robot positioning using an external large volume metrology instrument. Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. editor / George Q. Huang ; K.L. Mak ; Paul G. Maropoulos. Berlin (DE) : Springer, 2010. pp. 621-630 (Advances in Intelligent and Soft Computing).
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    title = "High accuracy mobile robot positioning using an external large volume metrology instrument",
    abstract = "A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as the laser tracker 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, 5mm repeatability was achieved over a volume of 30m radius. A surface digitization scan of a wind turbine blade section was also demonstrated, illustrating possible applications of the method for manufacturing processes. {\circledC} Springer-Verlag Berlin Heidelberg 2010.",
    keywords = "laser tracker, control, metrology system, navigation, robot",
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    Wang, Z, Liang, M & Maropoulos, PG 2010, High accuracy mobile robot positioning using an external large volume metrology instrument. in GQ Huang, KL Mak & PG Maropoulos (eds), Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. Advances in Intelligent and Soft Computing, vol. 66, Springer, Berlin (DE), pp. 621-630, 6th CIRP International Conference on Digital Enterprise Technology, Hong Kong, China, 14/12/09. https://doi.org/10.1007/978-3-642-10430-5_48

    High accuracy mobile robot positioning using an external large volume metrology instrument. / Wang, Zheng; Liang, Min; Maropoulos, Paul G.

    Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. ed. / George Q. Huang; K.L. Mak; Paul G. Maropoulos. Berlin (DE) : Springer, 2010. p. 621-630 (Advances in Intelligent and Soft Computing; Vol. 66).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

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    T1 - High accuracy mobile robot positioning using an external large volume metrology instrument

    AU - Wang, Zheng

    AU - Liang, Min

    AU - Maropoulos, Paul G.

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    Y1 - 2010

    N2 - A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as the laser tracker 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, 5mm repeatability was achieved over a volume of 30m radius. A surface digitization scan of a wind turbine blade section was also demonstrated, illustrating possible applications of the method for manufacturing processes. © Springer-Verlag Berlin Heidelberg 2010.

    AB - A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as the laser tracker 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, 5mm repeatability was achieved over a volume of 30m radius. A surface digitization scan of a wind turbine blade section was also demonstrated, illustrating possible applications of the method for manufacturing processes. © Springer-Verlag Berlin Heidelberg 2010.

    KW - laser tracker

    KW - control

    KW - metrology system

    KW - navigation

    KW - robot

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    Wang Z, Liang M, Maropoulos PG. High accuracy mobile robot positioning using an external large volume metrology instrument. In Huang GQ, Mak KL, Maropoulos PG, editors, Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. Berlin (DE): Springer. 2010. p. 621-630. (Advances in Intelligent and Soft Computing). https://doi.org/10.1007/978-3-642-10430-5_48