Development of a laser tracking system
Development of a laser tracking system
复制标题
激光跟踪系统的开发
DOI：
10.1109/mmvip.1997.625316
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
Y. Koh
中科院分区：
文献类型：
--
作者：
C. Leigh;B. Shirinzadeh;Y. Koh
机器人末端执行器的位姿测量是机器人设备标定的关键问题。校准方法提供了在不修改臂或其控制架构的情况下提高机器人精度的工具。然而，这种校准技术需要大量的精确测量。位置和方向的动态测量提供了解决这个问题的方案，并且还允许机器人的动态校准，从而提高动态精度。为了开发动态测量能力，激光跟踪的概念最近已应用于机器人的校准。本文介绍了一种用于动态测量应用的激光跟踪系统的开发。介绍了该系统的结构和系统组成，并阐述了激光跟踪的原理。该系统将在校准以及固定基地和移动的机器人的远程/远程指导的应用。
The measurement of the position and orientation of a robot end effector is the most critical issue for calibration of robotic devices. Calibration methods provide tools to improve the accuracy of robots without modification to the arm or its control architecture. However, such calibration techniques require a large number of accurate measurements. Dynamic measurement of position and orientation provides a solution to this problem and also allows dynamic calibration of robots thus improving dynamic accuracy. To develop dynamic measurement capability, the concept of laser tracking has recently applied to calibration of robots. This paper describes the development of a laser tracking system for dynamic measurement applications. The structure and system components are presented and the principle of laser tracking is described. The system will have applications in calibration as well as long range/remote guidance of fixed-base and mobile robots.