6DOF Metrology-integrated Robot Control

This paper describes ongoing research into Metrology-integrated robot control. The research is a part of an ongoing EU funded aircraft industry project – ADFAST*. The ADFAST project tries to implement the use of industrial robots in low-volume production, high-demand-on-accuracy operations and for dynamic force compensation. To detect and compensate deflection in industrial robots during a process, the robot uses a metrology system. The metrology system supervises the tool center point of the robot as it executes its processes. Leica has recently released a new metrology system; the LTD800, which measures distances with laser interferometry and can simultaneously measure orientation of targets, through photogrammetry, using an additional camera on top of the measuring unit. This paper will describe theory and results from tests performed on integrating the LTD800 with the robot.