{"title":"显微测量:迈向机器人精度","authors":"J. Jarvis","doi":"10.1109/ROBOT.1987.1087739","DOIUrl":null,"url":null,"abstract":"A system is described based on triangulation for making accurate, three dimensional coordinate measurements over size ranges appropriate for robot calibration, maintenance and diagnosis. Complete kinematic models are defined for the triangulation system components and calibration methods are described to determine the values for each parameter in the model. A one dimensional, linear, interferometer system provides the coordinate data that is the basis for the calibration procedures. Details of the algorithms for triangulation, baseline determination and theodolite simulation are given. The accuracy of the baseline determination algorithm is demonstrated with simulations.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":"{\"title\":\"Microsurveying: Towards robot accuracy\",\"authors\":\"J. Jarvis\",\"doi\":\"10.1109/ROBOT.1987.1087739\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A system is described based on triangulation for making accurate, three dimensional coordinate measurements over size ranges appropriate for robot calibration, maintenance and diagnosis. Complete kinematic models are defined for the triangulation system components and calibration methods are described to determine the values for each parameter in the model. A one dimensional, linear, interferometer system provides the coordinate data that is the basis for the calibration procedures. Details of the algorithms for triangulation, baseline determination and theodolite simulation are given. The accuracy of the baseline determination algorithm is demonstrated with simulations.\",\"PeriodicalId\":438447,\"journal\":{\"name\":\"Proceedings. 1987 IEEE International Conference on Robotics and Automation\",\"volume\":\"17 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1987-03-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"15\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings. 1987 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.1987.1087739\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1987.1087739","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A system is described based on triangulation for making accurate, three dimensional coordinate measurements over size ranges appropriate for robot calibration, maintenance and diagnosis. Complete kinematic models are defined for the triangulation system components and calibration methods are described to determine the values for each parameter in the model. A one dimensional, linear, interferometer system provides the coordinate data that is the basis for the calibration procedures. Details of the algorithms for triangulation, baseline determination and theodolite simulation are given. The accuracy of the baseline determination algorithm is demonstrated with simulations.
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