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 proceedingChapter

3 Citations (Scopus)

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.
Original languageEnglish
Title of host publicationProceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology
EditorsG Q Huang, K L Mak, P G Maropoulos
Place of PublicationBerlin, Heidelberg
PublisherSpringer
Pages621-630
Number of pages10
Volume66
ISBN (Electronic)978-3-642-10430-5
ISBN (Print)9783642104299
DOIs
Publication statusPublished - 2010
Event6th International Conference on Digital Enterprise Technology (DET 2009) - Hong Kong, Hong Kong
Duration: 14 Dec 200916 Dec 2009

Publication series

NameAdvances in Intelligent and Soft Computing
PublisherSpringer Verlag

Conference

Conference6th International Conference on Digital Enterprise Technology (DET 2009)
Abbreviated titleDET2009
CountryHong Kong
CityHong Kong
Period14/12/0916/12/09

Keywords

  • laser tracker
  • control
  • metrology
  • navigation
  • robot

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