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 |
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Keywords
- laser tracker
- metrology
- automated guided vehicle
- iGPS
Cite this
Wang, Z., Liang, M., & Maropoulos, P. G. (2011). High accuracy mobile robot positioning using external large volume metrology instruments. International Journal of Computer Integrated Manufacturing, 24(5), 484-492. https://doi.org/10.1080/0951192x.2011.554868