(DET2009) High accuracy mobile robot positioning using external Large Volume Metrology instruments

Zheng Wang (1)

1 Mechanical Engineering

A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a 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 digitization 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 with assistance from KUKA Automation + Robotics UK.

Mots clés: Physical Sciences

Domaines: Sciences de l'ingénieur [physics]

Zheng Wang. (DET2009) High accuracy mobile robot positioning using external Large Volume Metrology instruments. International Journal of Computer Integrated Manufacturing, 2011, pp.1. ⟨10.1080/0951192X.2011.554868⟩. ⟨hal-00679586⟩