Non-contact coordinate measurements for robotic manipulators using laser tracking systems

Author(s):  
M. J. Er ◽  
S. B. Chang ◽  
C. S. Huang ◽  
S. Wu
Kybernetes ◽  
2012 ◽  
Vol 41 (9) ◽  
pp. 1192-1199 ◽  
Author(s):  
Liu Wanli ◽  
Qu Xinghua ◽  
Ouyang Jianfei

2019 ◽  
Vol 13 (4) ◽  
pp. 94-99
Author(s):  
Maciej Gruza ◽  
Piotr Gąska ◽  
Adam Gąska ◽  
Wiktor Harmatys ◽  
Michał Jedynak ◽  
...  

1972 ◽  
Vol 48 ◽  
pp. 112-120 ◽  
Author(s):  
F. O. von Bun

In this paper the objective of the ATS-F/NIMBUS-E Tracking Experiment, the first of such kind, is presented. Specifically, this experiment has a two-fold purpose: First, to gain experience in the practical use of satellite-to-satellite range and range rate data for very accurate orbit determination (this was its original intent); and second, to evaluate the real usefulness of such a technique for geodetic studies despite the fact that the 1000 km NIMBUS orbit is not ideally suited for such a purpose.The accuracies of the tracking systems of the satellite-to-satellite and satellite-to-ground link (ATS-F to the Rosman, N.C. ground station) will be ~ 0.035 cm/s in range rate and ~ 1 m in range – utilizing a 10 s integration time. With these values one obtains, based upon performed error analyses, orbit height errors in the order of 0.1 to 0.3 m for the near earth orbiting NIMBUS spacecraft. This experiment will therefore hopefully prove to be a significant first step for future Earth applications spacecraft carrying altimeters systems for measuring ocean height variations.In addition, laser corner reflectors placed on board the ATS-F will make a total independent position determination of this spacecraft to approximately 15 m to 30 m possible, assuming that the location errors of four laser tracking stations used to determine the orbit are about 3 m or 5 m in each component respectively, with laser ranging system noise errors of 1.2 m and bias errors of 0.15 m. A small position error of the ATS-F, the ‘orbiting tracking station’ is essential in order to make full usage of the small satellite-to-satellite tracking errors mentioned.For purpose of geodetic studies, one of the final goals, range rate variations of 0.1 cm/s or less corresponding to surface gravity anomaly of 20 mgal or less (over a half-width of 100 km on the Earth surface), will have to be measured during a time interval of approximately, say, 30–60 s. These values are within the range of the planned tracking systems accuracies for ATS-F and NIMBUS-E.


The Smithsonian Astrophysical Observatory operates four laser satellite-ranging systems in support of geodetic and geophysical research. The lasers-located in Brazil, Peru, Australia, and Arizona-have been in operation for more than 5 years and have provided ranging data at accuracy levels of a metre or better. To meet new requirements in geophysics, these systems are now being upgraded to improve range accuracy and performance. The lasers are being equipped with electronic pulse processors, to analyse returnpulse wave shape, and pulse choppers, to reduce laser pulse width. Initial results indicate that the upgraded ranging system hardware will meet the decimetre ranging-accuracy requirements for the Geos 3 and Seasat satellites and for Earth-dynamics projects based on satellites such as Starlette.


2004 ◽  
Vol 127 (3) ◽  
pp. 654-662 ◽  
Author(s):  
Psang Dain Lin ◽  
Chia-Hung Lu

Laser tracking systems, such as the Leica LTD 500, are used for precision position measurement of large or distant objects, for example, the alignment of aircraft wings or bridge girders during assembly. A laser tracker’s performance is theoretically better than other common metrology equipment, such as coordinate measuring machines (CMMs). It is desirable that a flexible laser tracking system replaces the standard CMM, but measurement accuracy is highly dependent on the accuracy of its rotating mirror mechanism and its link dimension variance during tracker manufacture and assembly. Therefore this study presents a skew-ray tracing method for modeling and sensitivity analysis of laser tracking systems. First, the geometric relations of position-detector and interferometer readings are derived in terms of the laser tracker’s parameters using skew-ray tracing method. Effects of corner-cube alignment errors on sensor readings are also investigated theoretically, and it is found that misalignment of the corner-cube causes errors in path length and, therefore, misestimation of distance. Effects of mirror mechanism dimension errors are also investigated by sensitivity analysis. This study will be of use to theoretical and practical studies involving the modeling, design, and use of laser tracking systems and similar devices.


2003 ◽  
Vol 19 (4) ◽  
pp. 301-314 ◽  
Author(s):  
Hanqi Zhuang ◽  
Shui H. Motaghedi ◽  
Zvi S. Roth ◽  
Ying Bai

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