On the calibration of a 6-D laser tracking system for dynamic robot measurements

The repeatability of today's robots is at least a magnitude better than their accuracy. A proper tool to improve accuracy provides geometric calibration which needs accurate measurement data of the actual robot. The laser tracking system provides an excellent means to obtain these measurements. In this paper we describe the calibration of the geometry of this measurement tool. The method is cheap and flexible, no external reference measurements are needed. We describe the design of our system and briefly mention why it is superior to other laser trackers. Then we give a description of the model and the calibration for three-dimensional (3D) measurements.