DocumentCode :
2942773
Title :
On the calibration of a 6D laser tracking system for contactless, dynamic robot measurements
Author :
Spiess, Stephan ; Vincze, Markus ; Ayromlou, Minu
Author_Institution :
Inst. of Flexible Autom., Tech. Univ. Wien, Austria
Volume :
2
fYear :
1997
fDate :
19-21 May 1997
Firstpage :
1203
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 reliable and accurate measurement data of the actual robot. The single beam Laser Tracking System “LuxWess” provides can excellent means to obtain these measurements. In this paper we describe the calibration of the geometry of this measurement tool, itself. The calibration method is cheap and flexible, no external reference measurements are needed. In the following we describe the principles of the design of our system and shortly mention why it is superior to other laser trackers. Then we give a description of the model and the calibration for three dimensional measurements
Keywords :
calibration; laser beam applications; optical tracking; robot kinematics; spatial variables measurement; 6D laser tracking system; CCD camera; LuxWess; calibration; circular criterion; contactless dynamic robot measurements; face criterion; geometric calibration; redundancy; repeatability; single beam laser tracking system; three dimensional measurement; Calibration; Coordinate measuring machines; Extraterrestrial measurements; Laser beams; Laser modes; Orbital robotics; Robot kinematics; Robotics and automation; Sampling methods; Target tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Instrumentation and Measurement Technology Conference, 1997. IMTC/97. Proceedings. Sensing, Processing, Networking., IEEE
Conference_Location :
Ottawa, Ont.
ISSN :
1091-5281
Print_ISBN :
0-7803-3747-6
Type :
conf
DOI :
10.1109/IMTC.1997.612390
Filename :
612390
Link To Document :
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