High accuracy mobile robot positioning using external large volume metrology instruments

Zheng Wang; M. Liang; Paul G. Maropoulos

doi:10.1080/0951192x.2011.554868

High accuracy mobile robot positioning using external large volume metrology instruments

Zheng Wang, M. Liang, Paul G. Maropoulos

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

22 Citations (SciVal)

227 Downloads (Pure)

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, 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.

Original language	English
Pages (from-to)	484-492
Number of pages	9
Journal	International Journal of Computer Integrated Manufacturing
Volume	24
Issue number	5
Early online date	16 Mar 2011
DOIs	https://doi.org/10.1080/0951192x.2011.554868
Publication status	Published - May 2011

Bibliographical note

Proceedings paper from 6th International Conference on Digital Enterprise Technology, 14-16 December 2009, Hong Kong, China. Sp. Iss. SI

Keywords

laser tracker
metrology
automated guided vehicle
iGPS

Access to Document

10.1080/0951192x.2011.554868

Wang_JCIM_2011_24_5_484.pdf
This is an electronic version of an article published in: Wang, Z., Liang, M. and Maropoulos, P. G., 2011. High accuracy mobile robot positioning using external large volume metrology instruments. International Journal of Computer Integrated Manufacturing, 24 (5), pp. 484-492. International Journal of Computer Integrated Manufacturing is available online at: http://www.informaworld.com/openurl?genre=article&issn=0951%2d192X&volume=24&issue=5&spage=484
Accepted author manuscript, 3.62 MB

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, 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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AU - Wang, Zheng

AU - Liang, M.

AU - Maropoulos, Paul G.

N1 - Proceedings paper from 6th International Conference on Digital Enterprise Technology, 14-16 December 2009, Hong Kong, China. Sp. Iss. SI

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N2 - 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.

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, 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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KW - automated guided vehicle

KW - iGPS

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High accuracy mobile robot positioning using external large volume metrology instruments

Abstract

Bibliographical note

Keywords

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2 Year Studentship

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High accuracy mobile robot positioning using external large volume metrology instruments

Abstract

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Projects

2 Year Studentship

Cite this