ON THE CALIBRATION OF A 6-D LASER TRACKING SYSTEM FOR DYNAMIC ROBOT MEASUREMENTS

The repeatability of today's robots is at least a magnitude better tha n their accuracy. A proper tool to improve accuracy provides geometric calibration which needs accurate measurement data of the actual robot . The laser tracking system provides an excellent means to obtain thes e measurements. In this paper we describe the calibration of the geome try of this measurement tool, The method is cheap and flexible, no ext ernal reference measurements are needed, We describe the design of our system and briefly mention why it is superior to other laser trackers , Then we give a description of the model and the calibration for thre e-dimensional (3-D) measurements.