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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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Cited articles

Lin, Y. and Zhang, G.: The optimal arrangement of four laser tracking interferometers in 3D coordinate measuring system based on multi-lateration, in: IEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems, 2003, VECIMS '03, 138–143, IEEE, Lugano, Switzerland, https://doi.org/10.1109/VECIMS.2003.1227044, 2003. a
Marquardt, D. W.: An Algorithm for Least-Squares Estimation of Nonlinear Parameters, J. Soc. Ind. Appl. Math., 11, 431–441, https://doi.org/10.1137/0111030, 1963. a
Merlet, J.-P.: Parallel robots, no. 74 in Solid mechanics and its applications, 2nd edn., Kluwer Academic Publishers, Dordrecht, Boston, MA, 2006. a
Nguyen, T. T., Weiß, H., Amthor, A., and Ament, C.: Fast and Robust Online Calibration of a Multi-laser Tracking System, in: 2013 Sixth International Conference on Developments in eSystems Engineering, 141–144, IEEE, Abu Dhabi, United Arab Emirates, https://doi.org/10.1109/DeSE.2013.33, 2013. a
Norman, A. R., Schönberg, A., Gorlach, I. A., and Schmitt, R.: Validation of iGPS as an external measurement system for cooperative robot positioning, Int. J. Adv. Manuf. Tech., 64, 427–446, https://doi.org/10.1007/s00170-012-4004-8, 2013.  a

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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.
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