Calibration of theodolites

Author

Jarvis, John F.

Author_Institution

AT&T Bell Lab., Holmdel, NJ, USA

fYear

1988

fDate

24-29 Apr 1988

Firstpage

952

Abstract

Concepts leading to an accurate, automated system for making 3D measurements of robot position are described. The system is predicated on building complete kinematic models of the measurement apparatus and determining the model parameters from data obtained in a calibration procedure. The two primary calibration procedures required are the determination of the geometric parameters of the individual theodolites and the determination of the triangulation baseline, the six-degree-of-freedom relationship between two theodolites. The former are described. Simulations and an experiment testing the theodolite calibration procedures are reported. The results suggest that the methods described, when used in conjunction with high quality commercially available theodolites (measurement errors <2 arcseconds), allow the construction of an automated triangulation system with measurement accuracy approaching 1:10⁵

Keywords

calibration; detectors; position measurement; robots; 3D measurements; automated triangulation system; complete kinematic models; geometric parameters; robot position; six-degree-of-freedom relationship; theodolite calibration; triangulation baseline; Azimuthal angle; Calibration; Computational geometry; Geometrical optics; Goniometers; Position measurement; Robot kinematics; Solid modeling; Theodolites; Volume measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Conference_Location

Philadelphia, PA

Print_ISBN

0-8186-0852-8

Type

conf

DOI

10.1109/ROBOT.1988.12182

Filename

12182