Abstract：In order to solve the problem of automatically measuring the assembly seams on large skins surface, a mobile robot autonomous tracking method for aircraft skin seam is proposed. The mobile robot includes a seam measurement module and a motion control module. The seam measurement module obtains the posture of the robot relative to the seam while measuring the gap and flush. The motion control module controls the robot to adjust position automatically. Based on the relative position between the dual linear structured light and the seam, an autonomous robot position adjustment method in different situations is proposed, which could solve the problem of autonomous position adjustment when the robot deviated from the seam. The experimental results show that the position error of the mobile robot for the autonomous tracking of the seam is 5.81mm and the angle error is 3.52°
王文辉，黄翔，孟亚云，鲁小翔，李根. 面向飞机蒙皮对缝的移动机器人自主跟踪方法[J]. 航空制造技术, 2021, 64(3): 76-82.
WANG Wenhui, HUANG Xiang, MENG Yayun, LU Xiaoxiang, LI Gen. A Mobile Robot Autonomous Tracking Method for Aircraft Skin Seam. Aeronautical Manufacturing Technology, 2021, 64(3): 76-82.
2021, 
