Six-degree-of-freedom pose estimation with µm/µrad accuracy based on laser multilateration

Abstract. The estimation of the six-degree-of-freedom position and orientation of an end effector is of high interest in industrial robotics. High precision and data rates are important requirements when choosing an adequate measurement system. In this work, a six-degree-of-freedom pose estimation setup based on laser multilateration is described together with the measurement principle and self-calibration strategies used in this setup. In an experimental setup, data rates of 200  Hz are achieved. During movement, deviations from a reference coordinate measuring machine of 20  µm are observed. During standstill, the deviations are reduced to 5  µm .