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1. Identity statement
Reference TypeJournal Article
Sitemtc-m16d.sid.inpe.br
Holder Codeisadg {BR SPINPE} ibi 8JMKD3MGPCW/3DT298S
Identifier8JMKD3MGP7W/3CD3EA5
Repositorysid.inpe.br/mtc-m19/2012/08.03.18.41   (restricted access)
Last Update2012:08.03.19.08.02 (UTC) administrator
Metadata Repositorysid.inpe.br/mtc-m19/2012/08.03.18.41.47
Metadata Last Update2021:02.03.17.56.22 (UTC) administrator
Secondary KeyINPE--PRE/
DOI10.1016/j.rcim.2012.03.004
ISSN0736-5845
Citation KeyMosqueiraApSaSuTr:2012:AnInGP
TitleAnalysis of the indoor GPS system as feedback for the robotic alignment of fuselages using laser radar measurements as comparison
Year2012
MonthDec.
Access Date2023, Jan. 31
Secondary TypePRE PI
Number of Files1
Size1409 KiB
2. Context
Author1 Mosqueira, G.
2 Apetz, J.
3 Santos, K. M.
4 E. Villani
5 Suterio, Ricardo
6 Trabasso, L. G.
Resume Identifier1
2
3
4
5 8JMKD3MGP5W/3C9JJ62
Group1
2
3
4
5 LIT-LIT-INPE-MCTI-GOV-BR
Affiliation1 Aeronautics Institute of Technology, Aircraft Structures Assembly Automation Laboratory (ASAA Lab)
2 WZL of RWTH Aachen University, Aachen, Germany
3 Aeronautics Institute of Technology, Aircraft Structures Assembly Automation Laboratory (ASAA Lab)
4 Aeronautics Institute of Technology, Aircraft Structures Assembly Automation Laboratory (ASAA Lab)
5 Instituto Nacional de Pesquisas Espaciais (INPE)
6 Aeronautics Institute of Technology, Aircraft Structures Assembly Automation Laboratory (ASAA Lab)
JournalRobotics and Computer-Integrated Manufacturing
Volume28
Number6
Pages700-709
Secondary MarkB1_CIÊNCIA_DA_COMPUTAÇÃO A2_ENGENHARIAS_III B1_ENGENHARIAS_IV
History (UTC)2012-08-03 19:08:03 :: marciana -> administrator :: 2012
2012-10-19 20:28:20 :: administrator -> marciana :: 2012
2013-01-20 15:19:57 :: marciana -> administrator :: 2012
2021-02-03 17:56:22 :: administrator -> marciana :: 2012
3. Content and structure
Is the master or a copy?is the master
Content Stagecompleted
Transferable1
Content TypeExternal Contribution
Version Typepublisher
KeywordsAerospace sectors
Alignment tolerance
Automated systems
Closed loops
EN ISO 9283
Error sources
Evaluation standard
Fuselage barrels
iGPS
Indoor GPS system
Industrial manipulators
Laser equipment
Manual process
Measuring procedure
Open-loop configuration
R-LAT
Reference systems
Step-by-step analysis
AbstractThe alignment of aircraft fuselages in the aerospace sector is currently done either manually or by complex, expensive automated systems. The manual process introduces a significant production delay and the automated systems are purpose-built and have limited flexibility, apart from its financial drawback. This work proposes a low-cost, high-flexibility system and, as part of it, evaluates the performance of a Rotary-Laser Automatic Theodolite (R-LAT) as a feedback source for the adaptive robot control of an anthropomorphic manipulator. In the proposed solution the robot carries a fuselage barrel and aligns it with respect to a second barrel. A high accuracy, frequency-modulated laser equipment is used to generate the reference system for the procedure. The measurements of the R-LAT are then verified with the frequency-modulated laser equipment in order to determine the linear and angular alignment tolerances achieved by the robot/R-LAT closed loop in a predefined work envelope. A throughout, step-by-step analysis of the measuring procedure is carried out to allow the recognition of error sources and thus the determination of an optimized method. These results identify the operation boundaries of the R-LAT within the process and yield its best configuration for the intended purpose. Using the EN ISO 9283 robot evaluation standard, the closed loop system was found to attain the nominal position with an average accuracy of 0.38 mm and 0.01°, contrasting with an average accuracy of 4.53 mm and 0.21° when the robot was operating in an open loop configuration.
AreaETES
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4. Conditions of access and use
Languageen
User Groupadministrator
marciana
Reader Groupadministrator
marciana
Visibilityshown
Archiving Policydenypublisher denyfinaldraft24
Read Permissiondeny from all and allow from 150.163
Update Permissionnot transferred
5. Allied materials
Mirror Repositorysid.inpe.br/mtc-m19@80/2009/08.21.17.02.53
Next Higher Units8JMKD3MGPCW/444BQ9E
DisseminationWEBSCI; PORTALCAPES.
Host Collectionsid.inpe.br/mtc-m19@80/2009/08.21.17.02
6. Notes
Empty Fieldsalternatejournal archivist callnumber copyholder copyright creatorhistory descriptionlevel e-mailaddress electronicmailaddress format isbn label lineage mark nextedition notes orcid parameterlist parentrepositories previousedition previouslowerunit progress project rightsholder secondarydate session shorttitle sponsor subject targetfile tertiarymark tertiarytype typeofwork url
7. Description control
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