Experimental testing of the dynamic tracking performance of iGPS and laser tracker

Z. Wang*, P. G. Maropoulos, L. Mastrogiacomo, F. Franceschini

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationLaser Metrology and Machine Performance IX
Subtitle of host publication9th International Conference and Exhibition on Laser Metrology, Machine Tool, CMM and Robotic Performance, LAMDAMAP 2009
PublisherEuspen
Pages305-314
Number of pages10
ISBN (Print)9780955308277
Publication statusPublished - 2009
Event9th International Conference and Exhibition on Laser Metrology, Machine Tool, CMM and Robotic Performance, LAMDAMAP 2009 - Uxbridge, United Kingdom
Duration: 30 Jun 20092 Jul 2009

Conference

Conference9th International Conference and Exhibition on Laser Metrology, Machine Tool, CMM and Robotic Performance, LAMDAMAP 2009
CountryUnited Kingdom
CityUxbridge
Period30/06/092/07/09

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Wang, Z., Maropoulos, P. G., Mastrogiacomo, L., & Franceschini, F. (2009). Experimental testing of the dynamic tracking performance of iGPS and laser tracker. In Laser Metrology and Machine Performance IX : 9th International Conference and Exhibition on Laser Metrology, Machine Tool, CMM and Robotic Performance, LAMDAMAP 2009 (pp. 305-314). Euspen.