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A portable instrument for 3-D dynamic robot measurements using triangulation and laser tracking

A portable instrument for 3-D dynamic robot measurements using triangulation and laser tracking,10.1109/70.313100,IEEE Transactions on Robotics and Au

A portable instrument for 3-D dynamic robot measurements using triangulation and laser tracking   (Citations: 15)
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The paper describes the development and validation of a 3-D measurement instrument capable of determining the static and dynamic performance of industrial robots to ISO standards. Using two laser beams to track an optical target attached to the robot end-effector, the target position coordinates may be estimated, relative to the instrument coordinate frame, to a high accuracy using triangulation principles. The effect of variations in the instrument geometry from the nominal model is evaluated through a kinematic model of the tracking head. Significant improvements of the measurement accuracy are then obtained by a simple adjustment of the main parameters. Extensive experimental test results are included to demonstrate the instrument performance. Finally typical static and dynamic measurement results for an industrial robot are presented to illustrate the effectiveness and usefulness of the instrument
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    • ...Basically the laser trackers in scientific research projects like [3-8] and also the actual purchasable systems of [9-12] use the same measuring principle as described above (see Figure 2 left) except that the distance to the reflector is determined with different methods, like phase measurements or interferometry...

    Matthias Sippelet al. New Approach in Precise Laser Tracking

    • ...To measure pose positions precisely enough to complete offline calibration, robot manufacturers generally use expensive measurement devices, such as theodolites, coordinate measurement machines, or laser tracking systems [1, 4, 5]. Such systems generally cannot be used for recalibrating robots in factory environments, due to cost and space limitations...

    Gregory C. Smithet al. A non-contact method for detecting on-line industrial robot position e...

    • ...To measure pose positions precisely enough to complete offline calibration, robot manufacturers generally use expensive measurement devices, such as theodolites, coordinate measurement machines, or laser tracking systems [1,4, 5]. Such systems generally cannot be used for recalibrating robots in factory environments, due to cost and space limitations...

    Gregory C. Smithet al. A non-contact method for detecting on-line industrial robot position e...

    • ...have also been attempts to use Laser Tracking Systems (LTSs), consisting of retroreflectors placed on the endeffector of an articulated robot or on the bodies of mobile robots [10-13]...

    Goldie Nejatet al. Active Task-Space Sensing and Localization of Autonomous Vehicles

    • ...As most pertinent to our work, there have also been several early attempts in using active Laser Tracking Systems (LTSs), consisting of retroreflectors placed on the end-effector of an articulated robot or on the bodies of mobile robots, for direct task-space robot-motion perception purposes [11-14]...

    Goldie Nejatet al. Continuous guidance for the docking of autonomous vehicles using activ...

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