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| A Mobile Robot Autonomous Tracking Method for Aircraft Skin Seam |
| WANG Wenhui, HUANG Xiang, MENG Yayun, LU Xiaoxiang, LI Gen |
| (College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China) |
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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°
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2021, 
