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Journal of Sensors and Sensor Systems An open-access peer-reviewed journal
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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.
JSSS | Articles | Volume 10, issue 1
J. Sens. Sens. Syst., 10, 19–24, 2021
https://doi.org/10.5194/jsss-10-19-2021

Special issue: Sensors and Measurement Science International SMSI 2020

J. Sens. Sens. Syst., 10, 19–24, 2021
https://doi.org/10.5194/jsss-10-19-2021

Regular research article 19 Feb 2021

Regular research article | 19 Feb 2021

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

Jan Nitsche et al.

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Short summary
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.
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