6 DOF long-range precision tracking system

Author

Qi, Lin ; Zhang, Hui ; Ye, Peiqing ; Duan, Guanhong

Author_Institution

Dept. of Precision Instrument & Mechanology, Tsinghua Univ., Beijing, China

Volume

6

fYear

2004

fDate

10-13 Oct. 2004

Firstpage

5307

Abstract

A novel design of a 6 DOF tracking system intended for large-scale dynamic robot measurement is presented. By integrating data from three-laser tracking systems and an inertial measurement unit, the system provides high frequency, precision position and attitude data. The drifting convergence problem of the inertial measurement method is corrected by using the laser tracking systems. And the integration of laser tracking systems and inertial measurement unit also increase the overall precision of the combined measurement system. Even if the measurements of laser tracker are intermittent and are obtained at a low frequency, the experimental result indicates the method proposed in this paper is able to reach an accuracy of a few hundred micron. Finally, real experiments performed with a parallel robot are presented and analyzed.

Keywords

industrial robots; inertial systems; measurement by laser beam; optical tracking; 6 DOF long-range precision tracking system; inertial measurement; large-scale dynamic robot measurement; laser tracking system; parallel robot; Calibration; Coordinate measuring machines; Laser beams; Laser fusion; Orbital robotics; Position measurement; Receivers; Robot kinematics; Space technology; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2004 IEEE International Conference on

ISSN

1062-922X

Print_ISBN

0-7803-8566-7

Type

conf

DOI

10.1109/ICSMC.2004.1401037

Filename

1401037