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

    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

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