Modelling and precision of the localization of the robotic mobile platforms for constructions with laser tracker and SmartTrack sensor

7th International Conference on Advanced Concepts in Mechanical Engineering

Dima, M.^1 ; Frâncu, C.^1

Construction Machinery and Mechatronics Department, Technical University of Civil Engineering, Bucharest, Romania^1

关键词: Forward kinematics;    Laser tracker;    Mobile construction;    Mobile platform;    Orientation mechanism;    Research papers;    Sensor localization;    Spherical coordinates;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/147/1/012077/pdf
DOI  :  10.1088/1757-899X/147/1/012077

来源: IOP

【 摘 要 】

This paper presents a way to expand the field of use of the laser tracker and SmartTrack sensor localization device used in lately for the localisation of the end effector of the industrial robots to the localization of the mobile construction robots. The research paper presents the equipment along with its characteristics, determines the relationships for the localization coordinates by comparison to the forward kinematics of the industrial robot's spherical arm (positioning mechanism in spherical coordinates) and the orientation mechanism with three revolute axes. In the end of the paper the accuracy of the mobile robot's localization is analysed.