Real-time contactless measurement of robot pose in six degrees of freedom

Prenninger, J.P.; Filz, Karl M.; Vincze, Markus; Gander, H.

doi:10.1016/0263-2241(94)00038-9

Cited by 12 publications

(7 citation statements)

References 2 publications

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“…using two gimballed mirrors that provide vertical and horizontal beam steering respectively (Lau et al 1986). This approach can lead to significant measurement uncertainties due to the difficulty in establishing the precise errors of motion of the system (Mayer et al 1997, Prenninnger et al 1995, Zhuang and Roth 1995. To minimize the uncertainty in displacement measurement caused by the beam steering mechanism, measuring stations have been developed using a precision sphere as its bearing (Hughes et al 2000).…”

Section: Virtual Technologies For Advanced Manufacturingmentioning

confidence: 99%

Virtual technologies for advanced manufacturing and metrology

Peggs¹

2003

International Journal of Computer Integrated Manufacturing

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The concept of virtual technologies is not one that is common when associated with length metrology. However, there are a number of techniques that are becoming used to an increasing extent in industry and in research. For example, the virtual metrology frame is becoming a practical measurement technique for accurate measurement and the virtual Coordinate Measuring Machine (CMM) is in its early stages of providing an effective means of uncertainty evaluation. These technologies are described in this paper.

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Section: Virtual Technologies For Advanced Manufacturingmentioning

confidence: 99%

Virtual technologies for advanced manufacturing and metrology

Peggs¹

2003

International Journal of Computer Integrated Manufacturing

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“…2 We have found this device to be extremely useful for defining coordinates for aligning optical systems. The laser tracker uses two gimbal angles plus a radial measurement to determine the position of a retroreflector.…”

Section: Introductionmentioning

confidence: 99%

Use of a commercial laser tracker for optical alignment

Burge

Zhao

et al. 2007

SPIE Proceedings

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Laser trackers have been developed that project laser beams and use optical systems to provide three dimensional coordinate measurements. The laser trackers incorporate a servo system to steer a laser beam so that it tracks a retroreflector, such as a corner cube. The line of sight gimbal angles and the radial distance to the retroreflector are used to determine the coordinates of the retroreflector relative to the tracker. In this paper, we explore the use of the laser tracker to define the metrology for aligning optical systems, including the use of mirrors and windows. We discuss how to optimize the geometry to take advantage of the tracker's most accurate measurements. We show how to use the tracker for measuring angles as well as points.

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“…In some projects it is required to have a built-in device which monitors the change of the angles among certain elements. Most commonly accepted techniques including those based on laser trackers [3,4] and CCD cameras [5][6][7] are difficult to use. The elements whose relative angular positions are required to measure are small and sometime even fragile.…”

Section: Introductionmentioning

confidence: 99%