Modeling gimbal axis misalignments and mirror center offset in a single-beam laser tracking measurement system

Author

Zhuang, Hanqi ; Roth, Zvi S.

Author_Institution

Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA

fYear

1994

fDate

8-13 May 1994

Firstpage

3416

Abstract

Laser tracking systems based on interferometry have applications in robot and machine tool calibration. Relative distance measurements provided by laser interferometers have an extremely high resolution. However, accuracy errors of a coordinate measuring machine based on laser tracking are dominated by geometric errors in the tracking mirror system. Major geometric error sources include gimbal axis misalignments and mirror center offset. In this paper, a geometric model for a single-beam tracker is developed, in which a necessary and sufficient number of geometric parameters is used to represent these two types of error sources for arbitrary target positions. This model can be used for design, calibration and control of single-beam laser tracking measurement systems

Keywords

calibration; distance measurement; light interferometers; machine tools; measurement errors; mirrors; robots; tracking systems; accuracy errors; arbitrary target positions; coordinate measuring machine; geometric error sources; geometric parameters; gimbal axis misalignments; high resolution; laser interferometry; machine tool calibration; mirror center offset; relative distance measurements; robot calibration; single-beam laser tracking measurement system; tracking mirror system; Calibration; Coordinate measuring machines; Distance measurement; Interferometers; Interferometry; Laser modes; Machine tools; Mirrors; Robot kinematics; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.351045

Filename

351045