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.
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Wang, Z., Liang, M., Maropoulos, P.G. (2010). High Accuracy Mobile Robot Positioning Using an External Large Volume Metrology Instrument. In: Huang, G.Q., Mak, K.L., Maropoulos, P.G. (eds) Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. Advances in Intelligent and Soft Computing, vol 66. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10430-5_48
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DOI: https://doi.org/10.1007/978-3-642-10430-5_48
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10429-9
Online ISBN: 978-3-642-10430-5
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