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The report describes the development of an optical, non-contact 3D motion tracking instrument, which has been designed primarily for the high accuracy, high speed measurement of the complex and rapid movements of industrial robots. The system applies a laser tracking triangulation technique to produce precise and absolute coordinate measurements of a moving optical target, mounted on the robot manipulator. The target, a novel precision cat's eye design, provides maximum freedom of motion to the robot. This and other features enable the performance of a robot to be tested in its normal environment over its complete working volume with ease and speed using a single instrument set-up. The system is fully portable, self-calibrating and provides extensive interfacing capability. The instrument was tested in a laboratory with poor environmental controls in terms of air draughts, temperature fluctuations and mains supply. Applying the procedures defined in ISO 9283 it was found to achieve repeatability levels better than +/- 18 micrometres and an accuracy of +/- 60 micrometres. It was also found to be capable of following its target at speeds exceeding 8 metres/second and acceleration exceeding 14g.

Additional information

Authors: RENÉ MAYER J R, University of Surrey, Department of Mechanical Engineering, Guildford (GB)
Bibliographic Reference: EUR 13654 EN (1991) 44 pp., MF, ECU 4, blow-up copy ECU 6.25
Availability: (2)
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