MOVEMENT CONTROL FOR TRACKED ROBOT ASSEMBLIES THAT MANUFACTURE AIRCRAFT

MOVEMENT CONTROL FOR TRACKED ROBOT ASSEMBLIES THAT MANUFACTURE AIRCRAFT

Systems and methods are provided for controlling the motion of a tracked robot assembly. An exemplary method comprises disposing a mobile robot assembly proximate to a fuselage of an aircraft that is being assembled, aligning a left ranging sensor of the assembly with a left target, and aligning a r...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Ayyagari Arun, Bang Bally, Wang Wen Xin, Nguyen Thi Q, Amirehteshami David H, Le Ngoc S
Format: Patent
Sprache:eng
Schlagworte:
AIRCRAFT
AVIATION
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
COSMONAUTICS
DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING ORREPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR
GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLYADAPTED FOR USE IN CONNECTION WITH AIRCRAFT
HAND TOOLS
HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFTCOMPONENTS, NOT OTHERWISE PROVIDED FOR
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Beschreibung
Zusammenfassung:Systems and methods are provided for controlling the motion of a tracked robot assembly. An exemplary method comprises disposing a mobile robot assembly proximate to a fuselage of an aircraft that is being assembled, aligning a left ranging sensor of the assembly with a left target, and aligning a right ranging sensor of the assembly with a right target. The method also includes directing the assembly to traverse to a location within the aircraft fuselage at which a robot on the assembly will perform work upon the fuselage, determining a left distance between the left ranging sensor and the left target while the assembly is moving, determining a right distance between the right ranging sensor and the right target while the assembly is moving, detecting a difference between the determined distances, and adjusting a direction of motion of the assembly based on the difference.