Development of a Robot Position and Attitude Measuring System Based on a Laser Tracker and an Articulated Arm Coordinate Machine

Due to the limitation of the laser tracking technique in robot position and attitude detection, once the light is blocked, it cannot be detected. A laser tracking joint arm measurement system adopts the combination of a laser tracker and an articulated arm coordinate machine, and uses the principle of laser beam tracking and the high rigidity and flexibility probe of joint arm. It can detect and calibrate the robot's position and attitude. A laser interferometer and a length measuring machine were used to evaluate the system in different attitudes. The experiment results showed that the maximum error of the system was −0.042 mm at 2000 mm. The error at each point did not exceed ±（30+0.8×10⁻⁵L）μm.