As a reference measurement machine for multi-component force and moment sensors of up to six components, a hexapod-structured calibration device was developed at the Physikalisch-Technische Bundesanstalt in 2001. The machine can generate and measure forces of up to 10 kN and moments of up to 1 kN • m. In this paper, the measurement uncertainty budget of the machine is analyzed, beginning with an improved physical model and calculation of sensitivity coefficients using the implicit function theorem and the Monte Carlo method. The main influencing factors for the measurement uncertainty are discussed and suggestions for further reduction of the uncertainty are given.

Abstract. The estimation of the six-degree-of-freedom position and orientation of an end effector is of high interest in industrial robotics. High precision and data rates are important requirements when choosing an adequate measurement system. In this work, a six-degree-of-freedom pose estimation setup based on laser multilateration is described together with the measurement principle and self-calibration strategies used in this setup. In an experimental setup, data rates of 200 Hz are achieved. During movement, deviations from a reference coordinate measuring machine of 20 µm are observed. During standstill, the deviations are reduced to 5 µm.

No abstract