High accuracy mobile robot positioning using external large volume metrology instruments

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.


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, 5mm repeatability was achieved over a volume of 30m 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. © 2011 Taylor & Francis.

Publication DOI: https://doi.org/10.1080/0951192X.2011.554868
Divisions: Aston University (General)
Additional Information: This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Computer Integrated Manufacturing on 16/3/2011, available online: http://www.tandfonline.com/10.1080/0951192X.2011.554868
Uncontrolled Keywords: automated guided vehicle,iGPS,laser tracker,metrology,Computer Science Applications,Aerospace Engineering,Electrical and Electronic Engineering,Mechanical Engineering
Full Text Link: http://www.tand ... 92X.2011.554868
Related URLs: http://www.scop ... tnerID=8YFLogxK (Scopus URL)
Published Date: 2011
Authors: Wang, Z.
Liang, M.
Maropoulos, P.G. ( 0000-0001-6525-6216)



Version: Accepted Version

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