TY - GEN
T1 - Experimental testing of the dynamic tracking performance of iGPS and laser tracker
AU - Wang, Z.
AU - Mastrogiacomo, L.
AU - Maropoulos, P. G.
AU - Franceschini, F.
PY - 2009
Y1 - 2009
N2 - External metrology systems are increasingly being integrated with traditional industrial articulated robots, especially in the aerospace industries, to improve their absolute accuracy for precision operations such as drilling, machining, and jigless assembly. While currently most of the metrology assisted robotics control systems are limited in their position update rate, such that the robot has to be stopped in order to receive a metrology coordinate update, some recent efforts are addressed toward controlling robots using real-time metrology data. The indoor GPS is one of the metrology systems that may be use to provide real-time 6DOF data to a robot controller. There is however, a lack of literature on how well the iGPS performs under dynamic conditions, when the timing pulses the sensors receive are not in sync. This paper presents an experimental evaluation of the dynamic measurement performance of the iGPS, tracking the trajectories of an industrial robot. The same experiment is also repeated using a laser tracker for reference.
AB - External metrology systems are increasingly being integrated with traditional industrial articulated robots, especially in the aerospace industries, to improve their absolute accuracy for precision operations such as drilling, machining, and jigless assembly. While currently most of the metrology assisted robotics control systems are limited in their position update rate, such that the robot has to be stopped in order to receive a metrology coordinate update, some recent efforts are addressed toward controlling robots using real-time metrology data. The indoor GPS is one of the metrology systems that may be use to provide real-time 6DOF data to a robot controller. There is however, a lack of literature on how well the iGPS performs under dynamic conditions, when the timing pulses the sensors receive are not in sync. This paper presents an experimental evaluation of the dynamic measurement performance of the iGPS, tracking the trajectories of an industrial robot. The same experiment is also repeated using a laser tracker for reference.
M3 - Conference contribution
AN - SCOPUS:79957472347
T3 - Laser Metrology and Machine Performance IX - 9th International Conference and Exhibition on Laser Metrology, Machine Tool, CMM and Robotic Performance, LAMDAMAP 2009
SP - 305
EP - 314
BT - Laser Metrology and Machine Performance IX - 9th International Conference and Exhibition on Laser Metrology, Machine Tool, CMM and Robotic Performance, LAMDAMAP 2009
PB - EUSPEN
T2 - 9th International Conference and Exhibition on Laser Metrology, Machine Tool, CMM and Robotic Performance, LAMDAMAP 2009
Y2 - 30 June 2009 through 2 July 2009
ER -