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Proceedings Paper

A novel laser tracking testbed for robot trajectory errors
Author(s): Anhu Li; Zhizhong Li; Wei Wang; Yongjian Zhu; Xuchun Jiang
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Paper 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.

Paper Details

Date Published: 14 September 2011
PDF: 7 pages
Proc. SPIE 8133, Dimensional Optical Metrology and Inspection for Practical Applications, 81330S (14 September 2011); doi: 10.1117/12.890033
Show Author Affiliations
Anhu Li, Tongji Univ. (China)
Zhizhong Li, Tongji Univ. (China)
Wei Wang, Tongji Univ. (China)
Yongjian Zhu, Zhejiang Univ. of Science & Technology (China)
Xuchun Jiang, Tongji Univ. (China)

Published in SPIE Proceedings Vol. 8133:
Dimensional Optical Metrology and Inspection for Practical Applications
Kevin G. Harding; Peisen S. Huang; Toru Yoshizawa, Editor(s)

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