TY - JOUR
T1 - High accuracy mobile robot positioning using external large volume metrology instruments
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
PY - 2011/5
Y1 - 2011/5
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.
KW - laser tracker
KW - metrology
KW - automated guided vehicle
KW - iGPS
UR - http://www.scopus.com/inward/record.url?scp=79957500158&partnerID=8YFLogxK
UR - http://dx.doi.org/10.1080/0951192x.2011.554868
U2 - 10.1080/0951192x.2011.554868
DO - 10.1080/0951192x.2011.554868
M3 - Article
VL - 24
SP - 484
EP - 492
JO - International Journal of Robotics and Computer Integrated Manufacturing
JF - International Journal of Robotics and Computer Integrated Manufacturing
SN - 0951-192X
IS - 5
ER -