A PORTABLE INSTRUMENT FOR 3-D DYNAMIC ROBOT MEASUREMENTS USING TRIANGULATION AND LASER TRACKING

The paper describes the development and validation of a 3-D measuremen t instrument capable of determining the static and dynamic performance of industrial robots to ISO standards. Using two laser beams to track an optical target attached to the robot end-effector, the target posi tion coordinates may be estimated, relative to the instrument coordina te frame, to a high accuracy using triangulation principles. The effec t of variations in the instrument geometry from the nominal model is e valuated through a kinematic model of the tracking head. Significant i mprovements of the measurement accuracy are then obtained by a simple adjustment of the main parameters. Extensive experimental test results are included to demonstrate the instrument performance. Finally typic al static and dynamic measurement results for an industrial robot are presented to illustrate the effectiveness and usefulness of the instru ment.