Abstract
A novel design of a 6 DOF tracking system intended for large-scale dynamic robot measurement is presented. By integrating data from three laser tracking systems and an inertial measurement unit, the system provides high-frequency, precision position and attitude data. The drifting convergence problem of the inertial measurement method is corrected by using the laser tracking systems. And the integration of laser tracking systems and inertial measurement unit also increase the overall precision of the combined measurement system. Even if the measurements of laser tracker are intermittent and are obtained at a low frequency, the experimental result indicates the method proposed in this paper is able to reach an accuracy of a few hundred micron. Finally, real experiments performed with a parallel robot are presented and analyzed.
| Original language | English |
|---|---|
| Title of host publication | 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 |
| Pages | 5307-5311 |
| Number of pages | 5 |
| Volume | 6 |
| DOIs | |
| Publication status | Published - 1 Dec 2004 |
| Externally published | Yes |
| Event | 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands Duration: 10 Oct 2004 → 13 Oct 2004 |
Conference
| Conference | 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 |
|---|---|
| Country/Territory | Netherlands |
| City | The Hague |
| Period | 10/10/04 → 13/10/04 |
Keywords
- Extended kalman filter
- Inertial measurement
- Multi-sensor data fusion
- Position and attitude estimation
- Tracking system
ASJC Scopus subject areas
- General Engineering
Fingerprint
Dive into the research topics of '6 DOF long-range precision tracking system'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver