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.


    Access

    Download


    Export, share and cite



    Title :

    Experimental comparison of dynamic tracking performance of iGPS and laser tracker


    Contributors:

    Publication date :

    2011-09-01


    Remarks:

    Wang , Z , Mastrogiacomo , L , Franceschini , F & Maropoulos , P G 2011 , ' Experimental comparison of dynamic tracking performance of iGPS and laser tracker ' , International Journal of Advanced Manufacturing Technology , vol. 56 , no. 1-4 , pp. 205-213 . https://doi.org/10.1007/s00170-011-3166-0



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    Experimental comparison of dynamic tracking performanceof iGPS and laser tracker

    Zheng Wang / Paul Maropoulos / MASTROGIACOMO, LUCA et al. | BASE | 2011

    Free access

    A Low Cost Low Power INS/IGPS Spacecraft Attitude Determination System

    Phillips, R. / Guinon, W. / Setterlund, R. et al. | British Library Conference Proceedings | 1998


    Extending Link State IGPs for Load Management in MPLS Networks

    Shuaib, K. / Sallabi, F. | British Library Online Contents | 2008


    Learning a Dynamic Feature Fusion Tracker for Object Tracking

    Li, Zhiyong / Nai, Ke / Li, Guiji et al. | IEEE | 2022