Contactless position and orientation measurement of robot end-effectors

A six-degree-of-freedom real-time robot measurement system that can dynamically track robot motions is presented. The measurement principle is based on a laser tracking system (LTS) with one laser beam. The LTS determines the position and orientation of a robot's end-effector with high accuracy...

Full description

Saved in:
Bibliographic Details
Published in[1993] Proceedings IEEE International Conference on Robotics and Automation pp. 180 - 185 vol.1
Main Author Prenninger, J.P.
Format Conference Proceeding
LanguageEnglish
Published IEEE Comput. Soc. Press 1993
Subjects
Laser beams
Laser theory
Mirrors
Orbital robotics
Position measurement
Real time systems
Robot programming
Robot sensing systems
Robotics and automation
Tracking
Online AccessGet full text

Cover

More Information
Summary:A six-degree-of-freedom real-time robot measurement system that can dynamically track robot motions is presented. The measurement principle is based on a laser tracking system (LTS) with one laser beam. The LTS determines the position and orientation of a robot's end-effector with high accuracy during the movement of the robot. The position is measured using a modified triangulation. The orientation is determined by analyzing the intensity profile of the reflected laser-beam using a vision system. The tracking unit allows the system to follow arbitrary movements of the robot.< >
ISBN:9780818634505
0818634502
DOI:10.1109/ROBOT.1993.291980