Research on High-Precision Positioning Strategy for Mobile Robots with Multi-Sensor Fusion

With the increasing demand for efficient and highprecision machining of large and complex components in aerospace and other fields, the limitations of traditional machine tools are becoming increasingly prominent. This paper proposes an integrated multi-sensor calibration method to address the accuracy and collaborative control challenges faced by mobile robot machining systems. Taking the spacecraft cabin as the object, the Eye in Hand mode is first analyzed through the principle of hand eye calibration. Combined with laser trackers and visual sensors, an accurate mapping relationship between the robot coordinate system and the workspace is established. Subsequently, drilling experiments are conducted to achieve robot base calibration, multi station benchmark unification, and trajectory correction. The experimental results show that after compensation, the position error decreased from a maximum of 0.715 mm to 0.119 mm, and the attitude error decreased from 0.085° to 0.057°, indicating a significant improvement in accuracy. This method improves processing efficiency and robustness, providing practical technical solutions for in-situ processing of large-scale components.