High accuracy mobile robot positioning using an external large volume metrology instrument

Zheng Wang; Min Liang; Paul G. Maropoulos

doi:10.1007/978-3-642-10430-5_48

High accuracy mobile robot positioning using an external large volume metrology instrument

Zheng Wang, Min Liang, Paul G. Maropoulos

Research output: Chapter in Book/Published conference output › Conference publication

Abstract

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 the laser tracker 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. © Springer-Verlag Berlin Heidelberg 2010.

Original language	English
Title of host publication	Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology
Editors	George Q. Huang, K.L. Mak, Paul G. Maropoulos
Place of Publication	Berlin (DE)
Publisher	Springer
Pages	621-630
Number of pages	10
ISBN (Electronic)	978-3-642-10430-5
ISBN (Print)	978-3-6421-0429-9
DOIs	https://doi.org/10.1007/978-3-642-10430-5_48
Publication status	Published - 2010
Event	6th CIRP International Conference on Digital Enterprise Technology - Hong Kong, China Duration: 14 Dec 2009 → 16 Dec 2009

Publication series

Name	Advances in Intelligent and Soft Computing
Publisher	Springer
Volume	66
ISSN (Print)	1867-5662

Conference

Conference	6th CIRP International Conference on Digital Enterprise Technology
Abbreviated title	DET 2009
Country/Territory	China
City	Hong Kong
Period	14/12/09 → 16/12/09

Keywords

laser tracker
control
metrology system
navigation
robot

Access to Document

10.1007/978-3-642-10430-5_48

Cite this

Wang, Z., Liang, M., & Maropoulos, P. G. (2010). High accuracy mobile robot positioning using an external large volume metrology instrument. In G. Q. Huang, K. L. Mak, & P. G. Maropoulos (Eds.), Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology (pp. 621-630). (Advances in Intelligent and Soft Computing; Vol. 66). Springer. https://doi.org/10.1007/978-3-642-10430-5_48

Wang, Zheng ; Liang, Min ; Maropoulos, Paul G. / High accuracy mobile robot positioning using an external large volume metrology instrument. Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. editor / George Q. Huang ; K.L. Mak ; Paul G. Maropoulos. Berlin (DE) : Springer, 2010. pp. 621-630 (Advances in Intelligent and Soft Computing).

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abstract = "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 the laser tracker 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. {\textcopyright} Springer-Verlag Berlin Heidelberg 2010.",

keywords = "laser tracker, control, metrology system, navigation, robot",

author = "Zheng Wang and Min Liang and Maropoulos, {Paul G.}",

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booktitle = "Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology",

address = "Germany",

note = "6th CIRP International Conference on Digital Enterprise Technology, DET 2009 ; Conference date: 14-12-2009 Through 16-12-2009",

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Wang, Z, Liang, M & Maropoulos, PG 2010, High accuracy mobile robot positioning using an external large volume metrology instrument. in GQ Huang, KL Mak & PG Maropoulos (eds), Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. Advances in Intelligent and Soft Computing, vol. 66, Springer, Berlin (DE), pp. 621-630, 6th CIRP International Conference on Digital Enterprise Technology, Hong Kong, China, 14/12/09. https://doi.org/10.1007/978-3-642-10430-5_48

High accuracy mobile robot positioning using an external large volume metrology instrument. / Wang, Zheng; Liang, Min; Maropoulos, Paul G.
Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. ed. / George Q. Huang; K.L. Mak; Paul G. Maropoulos. Berlin (DE): Springer, 2010. p. 621-630 (Advances in Intelligent and Soft Computing; Vol. 66).

Research output: Chapter in Book/Published conference output › Conference publication

TY - GEN

T1 - High accuracy mobile robot positioning using an external large volume metrology instrument

AU - Wang, Zheng

AU - Liang, Min

AU - Maropoulos, Paul G.

PY - 2010

Y1 - 2010

N2 - 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 the laser tracker 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. © Springer-Verlag Berlin Heidelberg 2010.

AB - 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 the laser tracker 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. © Springer-Verlag Berlin Heidelberg 2010.

KW - laser tracker

KW - control

KW - metrology system

KW - navigation

KW - robot

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SN - 978-3-6421-0429-9

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BT - Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology

A2 - Huang, George Q.

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Wang Z, Liang M, Maropoulos PG. High accuracy mobile robot positioning using an external large volume metrology instrument. In Huang GQ, Mak KL, Maropoulos PG, editors, Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. Berlin (DE): Springer. 2010. p. 621-630. (Advances in Intelligent and Soft Computing). doi: 10.1007/978-3-642-10430-5_48

High accuracy mobile robot positioning using an external large volume metrology instrument

Abstract

Publication series

Conference

Keywords

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High accuracy mobile robot positioning using external large volume metrology instruments

Design of an information system for metrology contents

Large volume metrology instrument selection and measurability analysis

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