Abstract
Modern production lines typically consist of several components, which have to be installed with high precision in order to work together harmoniously. Upon installation of this equipment, a vast number of drill holes need to be marked. This stage of the setup process of a factory is performed manually at present and henceforth it is both time-consuming and error-prone. Within this work, we present a method to accomplish this task autonomously by means of possibly multiple mobile robots. To this end, we propose a hierarchical event based control strategy for the mixed-integer optimal control problem and provide insight into real-time capable solution methods. Moreover, an experimental setup utilizing a Leica AT901-LR laser tracker and a KUKA youBot is studied. This case study shows that the process can be performed autonomously satisfying the desired marking precision and yet be completed within a shorter time frame thus reducing the costs.
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Acknowledgments
We like to thank Prof. Heunecke and Mr. Liebl from the Institute of Geodesy for their cooperation in the usage of the Leica AT901-LR laser tracker and fruitful comments throughout the project.
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Pannek, J., Naundorf, T., Gerdts, M. (2016). Autonomous Control Strategy for High Precision Marking of Installation Drill Holes Using a Mobile Robot. In: Kotzab, H., Pannek, J., Thoben, KD. (eds) Dynamics in Logistics. Lecture Notes in Logistics. Springer, Cham. https://doi.org/10.1007/978-3-319-23512-7_7
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DOI: https://doi.org/10.1007/978-3-319-23512-7_7
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