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Experimental comparison of dynamic tracking performance of iGPS and laser tracker


Reference:

Wang, Z., Mastrogiacomo, L., Franceschini, F. and Maropoulos, P. G., 2011. Experimental comparison of dynamic tracking performance of iGPS and laser tracker. International Journal of Advanced Manufacturing Technology, 56 (1-4), pp. 205-213.

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    Official URL:

    http://dx.doi.org/10.1007/s00170-011-3166-0

    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 used to provide real-time 6DOF data to a robot controller. Even if there is a noteworthy literature dealing with the evaluation of iGPS performance, there is, however, a lack of literature on how well the iGPS performs under dynamic conditions. 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. Besides the experiment results presented, this paper also proposes a novel method for dynamic repeatability comparisons of tracking instruments.

    Details

    Item Type Articles
    CreatorsWang, Z., Mastrogiacomo, L., Franceschini, F. and Maropoulos, P. G.
    DOI10.1007/s00170-011-3166-0
    DepartmentsFaculty of Engineering & Design > Mechanical Engineering
    Publisher StatementWang_IJAMT_2011.pdf: The original publication is available at www.springerlink.com
    RefereedYes
    StatusPublished
    ID Code22719

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