Metrology of Robotic Manipulators

将获得一个三维坐标测量系统和相关的硬件，用于测量--包括模态分析、力传感、定向光端执行器坐标测量--以实现对几个不同机器人系统的几何、挠度、质量和控制参数的半自动确定。在这些结果的基础上，将制定和演示一种用于此类系统的通用计量技术。

A three-dimensional coordinate measurement system and associated hardware will be acquired to be used for measurements--including modal analysis, force sensing, directed-light end-effector coordinate measurement--to enable semi-automatic determination of geometrical, deflection, mass, and control parameters for several distinct robotic systems. Based on these results, a generic technology for metrology of such systems will be formulated and demonstrated.