Metrology of Robotic Manipulators

一种三维坐标测量系统和相关的 将获得用于测量的硬件-包括模态 分析，力传感，定向光末端执行器坐标 测量--为了能够半自动地确定几何形状， 几种不同机器人的偏转、质量和控制参数 系统. 基于这些结果，一种通用的技术， 将制定和演示这些系统。

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.