Projects per year
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 | |
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. SIKeywords
- laser tracker
- metrology
- automated guided vehicle
- iGPS
Fingerprint
Dive into the research topics of 'High accuracy mobile robot positioning using external large volume metrology instruments'. Together they form a unique fingerprint.Projects
- 1 Finished
-
2 Year Studentship
Bowyer, A. (PI)
Engineering and Physical Sciences Research Council
1/10/09 → 30/09/11
Project: Research council