Properties of six DOF measurements for robotics and control

Abstract

The paper is focused on the analyze of the accuracy and linearity of the six degrees-of-freedom (DoF) measurement system for the sampling of structural dynamic properties in robotics, engineering constructions and for control operation in space. The subject of this measurement device is the sampling and information processing used in the conversion of the 2-D CCD array images into three axial and three angular displacement values. Every 2-CCD array image consists of one, alternatively four light spot produced by light rays from four laser sources. These light beams form the edges of a pyramidal shape with one, alternatively four 2-D arrays forming its base and the intersection of laser light rays is forming its apex. The analyze of the accuracy and the linearity is based on algorithms for direct and inverse transformation for the computation of three axial shiftings and three angular displacements values in order to determine the relative location and orientation of a floating 2-D coordinate system against fixed 3-D coordinate system of laser rays.