Year: 2020
Type: article
Abstract: The performance of marker-based, six degrees of freedom (6DOF) pose measuring systems is investigated. For instruments in this class, the pose is derived from locations of a few three-dimensional (3D) points. For such configurations to be used, the rigid-body condition-which requires that the distance between any two points must be fixed, regardless of orientation and position of the configuration-must be satisfied. This report introduces metrics that gauge the deviation from the rigid-body condition. The use of these metrics is demonstrated on the problem of reducing robot localization error in assembly applications. Experiments with two different systems used to reduce the localization error of the same industrial robot yielded two conflicting outcomes. The data acquired with one system led to substantial reduction in both position and orientation error of the robot, while the data acquired with a second system led to comparable reduction in the position error only. The difference is attributed to differences between metrics used to characterize the two systems.
Source: Sensors
DOI: 10.3390/s20051305
Institution: National Institute of Standards and Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,112
OpenAlex ID: W3010294695