Vision Based Navigation for Omni-directional Mobile Industrial Robot

Abstract

In this paper, an Omni-directional mobile industrial robot drilling system for aerospace manufacture is introduced. Mecanum wheels are used for the robot's maneuverability in congested workspace. An industrial robot is applied to complete the drilling work for a rocket shell. A vision system is applied to enhance the precision of mobile drilling. Additional sensor systems such as laser measurement system and displacement measurement system are equipped to do the autonomous navigation and anti-collision job. To increase the flexibility and working volume of the mobile industrial robot, the autonomous mobile drilling scheme is presented. In order to fulfil the requirement for drilling precision in aerospace industry, a vision-based deviation rectification solution is developed. Some experiments are carried out to compare the influence of different calibration targets on the robot system. Numerical tests show that the rectification system is able to satisfy the accuracy of the positioning in the autonomous drilling work.