On the calibration of a 6-D laser tracking system for dynamic robot measurements

Author

Spiess, Stephan ; Vincze, Markus ; Ayromiou, M.

Author_Institution

Inst. of Flexible Autom., Vienna Univ. of Technol., Austria

Volume

47

Issue

1

fYear

1998

fDate

2/1/1998 12:00:00 AM

Firstpage

270

Lastpage

274

Abstract

The repeatability of today´s robots is at least a magnitude better than their accuracy. A proper tool to improve accuracy provides geometric calibration which needs accurate measurement data of the actual robot. The laser tracking system provides an excellent means to obtain these measurements. In this paper we describe the calibration of the geometry of this measurement tool. The method is cheap and flexible, no external reference measurements are needed. We describe the design of our system and briefly mention why it is superior to other laser trackers. Then we give a description of the model and the calibration for three-dimensional (3D) measurements

Keywords

calibration; optical tracking; robot dynamics; spatial variables measurement; 3D measurements; 6D laser tracking; calibration; dynamic robot measurements; external reference measurements; geometric calibration; laser trackers; laser tracking; repeatability; two face criterion; Calibration; Coordinate measuring machines; Laser beams; Laser modes; Level measurement; Mirrors; Orbital robotics; Position measurement; Robot kinematics; Robotics and automation;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.728832

Filename

728832