A novel laser tracking testbed for robot trajectory errors

Anhu Li; Zhizhong Li; Wei Wang; Yongjian Zhu; Xuchun Jiang

doi:10.1117/12.890033

14 September 2011 A novel laser tracking testbed for robot trajectory errors

Anhu Li, Zhizhong Li, Wei Wang, Yongjian Zhu, Xuchun Jiang

Proceedings Volume 8133, Dimensional Optical Metrology and Inspection for Practical Applications; 81330S (2011) https://doi.org/10.1117/12.890033
Event: SPIE Optical Engineering + Applications, 2011, San Diego, California, United States

Abstract

A novel measurement of laser coarse-fine coupling tracking is proposed for robot trajectory errors, which can not only meet the requirements of large range, rapid response and dynamic tracking, but also achieve the high accuracy of submicroradian magnitude. The mathematic model of robot parameters is deduced according to the motion definition. An experiment platform together with the test system is built to complete the robot trajectory test. The circular and linear trajectory, as well as the harmonious motion parameters, is tested respectively. Some error factors affecting the test uncertainty are given to be considered according to the test experiment results.

Citation Download Citation

Anhu Li, Zhizhong Li, Wei Wang, Yongjian Zhu, and Xuchun Jiang "A novel laser tracking testbed for robot trajectory errors", Proc. SPIE 8133, Dimensional Optical Metrology and Inspection for Practical Applications, 81330S (14 September 2011); https://doi.org/10.1117/12.890033

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