End-effector position-orientation measurement
Jing Shun Yuan, Shen-Kai Yu · IEEE Transactions on Robotics and Automation · 1999
A low-cost device is presented for noncontact measurement of robot position and orientation. It consists of an optical sensor and three laser scanners. The sensor is attached to the end-effector while the laser scanners cast light planes to trace the sensor movement. The device measures equations of the light planes from which end-effector position and orientation are obtained. Accurate measurement is achieved in a three-DOF experiment.