M. Vincze et al., A LASER TRACKING SYSTEM TO MEASURE POSITION AND ORIENTATION OF ROBOT END EFFECTORS UNDER MOTION, The International journal of robotics research, 13(4), 1994, pp. 305-314
Citations number
22
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control
This article describes a laser tracking system (LTS) that can be used
to determine the position and orientation of a robot's end effector wi
th high accuracy during arbitrary robot motions. The position is measu
red using a polar configuration employing one laser beam and two rotar
y axes. A retroreflector in the robot end effector reflects the laser
beam and constitutes the only part the robot has to carry for the cont
actless measurement. The orientation is determined by analyzing the in
tensity profile of the reflected laser beam with a vision system. The
intensity profile carries diffraction patterns of the retroreflector e
dges that uniquely define orientation. The tracking unit allows the sy
stem to follow arbitrary movements of the robot. With these characteri
stics a six-degree-of-freedom (6-DOF) real-time robot measurement syst
em is provided that can dynamically track robot motions.