Microsurveying: Towards Robot Accuracy.

A system is described based on triangulation for making accurate, three dimensional coordinate measurements over size ranges appropriate for robot calibration, maintenance and diagnosis. Complete kinematic models are defined for the triangulation system components and calibration methods are described to determine the values for each parameter in the model. A one dimensional, linear, interferometer system provides the coordination data that is the basis for the calibration procedures. Details of the algorithms for triangulation, baseline determination and theodolite simulation are given. The accuracy of the baseline determination algorithm is demonstrated with simulations.