High accuracy mobile robot positioning using external large volume metrology instruments

Z. Wang; M. Liang; P.G. Maropoulos

doi:10.1080/0951192X.2011.554868

High accuracy mobile robot positioning using external large volume metrology instruments

Z. Wang^*, M. Liang, P.G. Maropoulos

^*Corresponding author for this work

Research output: Contribution to journal › Special issue › peer-review

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.

Original language	English
Pages (from-to)	484-492
Number of pages	9
Journal	International Journal of Computer Integrated Manufacturing
Volume	24
Issue number	5
Early online date	16 Mar 2011
DOIs	https://doi.org/10.1080/0951192X.2011.554868
Publication status	Published - 2011
Event	6th CIRP International Conference on Digital Enterprise Technology - Hong Kong, China Duration: 14 Dec 2009 → 16 Dec 2009

Bibliographical note

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

Keywords

automated guided vehicle
iGPS
laser tracker
metrology

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10.1080/0951192X.2011.554868

Accuracy mobile robot positioning_ metrology instruments
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
Accepted author manuscript, 3.66 MB

http://www.tandfonline.com/10.1080/0951192X.2011.554868

Cite this

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title = "High accuracy mobile robot positioning using external large volume metrology instruments",

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. {\textcopyright} 2011 Taylor & Francis.",

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author = "Z. Wang and M. Liang and P.G. Maropoulos",

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

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doi = "10.1080/0951192X.2011.554868",

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AU - Wang, Z.

AU - Liang, M.

AU - Maropoulos, P.G.

N1 - 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

PY - 2011

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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, 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.

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, 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.

KW - automated guided vehicle

KW - iGPS

KW - laser tracker

KW - metrology

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U2 - 10.1080/0951192X.2011.554868

DO - 10.1080/0951192X.2011.554868

M3 - Special issue

SN - 0951-192X

VL - 24

SP - 484

EP - 492

JO - International Journal of Computer Integrated Manufacturing

JF - International Journal of Computer Integrated Manufacturing

IS - 5

T2 - 6th CIRP International Conference on Digital Enterprise Technology

Y2 - 14 December 2009 through 16 December 2009

ER -

High accuracy mobile robot positioning using external large volume metrology instruments

Abstract

Bibliographical note

Keywords

Access to Document

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Design of an information system for metrology contents

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

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