High accuracy mobile robot positioning using external large volume metrology instruments

Z. Wang*, M. Liang, P.G. Maropoulos

*Corresponding author for this work

    Research output: Contribution to journalSpecial issue

    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, 5mm repeatability was achieved over a volume of 30m 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. © 2011 Taylor & Francis.

    Original languageEnglish
    Pages (from-to)484-492
    Number of pages9
    JournalInternational Journal of Computer Integrated Manufacturing
    Volume24
    Issue number5
    Early online date16 Mar 2011
    DOIs
    Publication statusPublished - 2011
    Event6th CIRP International Conference on Digital Enterprise Technology - Hong Kong, China
    Duration: 14 Dec 200916 Dec 2009

    Fingerprint

    Mobile robots
    Navigation
    Global positioning system
    Robots
    Lasers
    Analog to digital conversion
    Wind turbines
    Turbomachine blades
    Robotics
    Costs

    Bibliographical note

    This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Computer Integrated Manufacturing on 16/3/2011, available online: http://www.tandfonline.com/10.1080/0951192X.2011.554868

    Keywords

    • automated guided vehicle
    • iGPS
    • laser tracker
    • metrology

    Cite this

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    title = "High accuracy mobile robot positioning using external large volume metrology instruments",
    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, 5mm repeatability was achieved over a volume of 30m 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. {\circledC} 2011 Taylor & Francis.",
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    author = "Z. Wang and M. Liang and P.G. Maropoulos",
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    High accuracy mobile robot positioning using external large volume metrology instruments. / Wang, Z.; Liang, M.; Maropoulos, P.G.

    In: International Journal of Computer Integrated Manufacturing, Vol. 24, No. 5, 2011, p. 484-492.

    Research output: Contribution to journalSpecial issue

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    AU - Liang, M.

    AU - Maropoulos, P.G.

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    AB - 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, 5mm repeatability was achieved over a volume of 30m 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. © 2011 Taylor & Francis.

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