Abstract
Abstract This paper presents a new real time position and orientation measurement system, based on the laser-tracking-principle for external dynamic measurements of robot behaviour in 6 degrees of freedom. The system uses a laser interferometer and highly accurate laser rotary encoders to determine the position of the robot’s end-effector. The orientation is measured using an advanced picture processing system. The described system allows measurements that help to improve the mechanical construction and the identification of the parameters of the internal model of the robot. Additionally since the position of the robot’s end-effector is computed in real time, it can be fed back to the robot’s motion controller resulting in a closed loop control configuration.
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