Six-degree-of-freedom pose estimation with µm/µrad accuracy based on laser multilateration

Abstract. The estimation of the six-degree-of-freedom position and orientation an end effector is high interest in industrial robotics. High precision data rates are important requirements when choosing adequate measurement system. In this work, a pose setup based on laser multilateration described together with principle self-calibration strategies used setup. experimental setup, 200 Hz achieved. During movement, deviations from reference coordinate measuring machine 20 µm observed. standstill, reduced to 5 µm.