End-effector position-orientation measurement

Abstract

A low-cost device is presented for noncontact measurement of robot position and orientation. It consists of an optical sensor and three laser scanners. The sensor is attached to the end-effector while the laser scanners cast light planes to trace the sensor movement. The device measures equations of the light planes from which end-effector position and orientation are obtained. Accurate measurement is achieved in a three-DOF experiment.Index Terms-End-effector position and orientation, noncontact measurement, robot calibration, robot metrology. Publisher Item Identifier S 1042-296X(99)04180-4.