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.
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, 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 |
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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 |
Publication ISSN: | 1362-3052 |
Last Modified: | 01 Oct 2024 07:20 |
Date Deposited: | 09 Sep 2015 12:55 |
Full Text Link: |
http://www.tand ... 92X.2011.554868 |
Related URLs: |
http://www.scop ... tnerID=8YFLogxK
(Scopus URL) |
PURE Output Type: | Special issue |
Published Date: | 2011 |
Published Online Date: | 2011-03-16 |
Authors: |
Wang, Z.
Liang, M. Maropoulos, P.G. ( 0000-0001-6525-6216) |