Towards the Accuracy Improvement of a Mobile Robot for Large Parts Sanding

Thomas Muller, Thomas Bressac, Sébastien Garnier, Benoît Furet, Kévin Subrin

Abstract: Recently, Naval industries explore ways to help workers with their activities. A mobile robot, including an automated guided vehicle and an industrial robot, is currently developed to address sanding of large parts. In this paper, we address the accuracy improvement of a mobile robot. The AGV, due to the industrial robot movement on his top, shows unwanted behavior and a positioning error of various millimeters due to the prismatic joints. Then, its behavior is identified with a theoretical approach and by measurement. Ways are then explored to validate the observation (camera and inertial system) to detect the unwanted movement. Perspectives are addressed to improve the accuracy of the mobile robot.