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There are several methods to measure precisely the fine positional and orientational variations of the end-point of a robot manipulator. The cube method which is useful for measuring the repeatability, joint compliance, and end-point impedance of a manipulator, etc. is a well-known one. But, there are two problems in applying the cube method. The one is what kinds of displacement sensors (or transducers) are appropriate for the method, and the other is how to certify the precision of the assembled measurement system using the cube method. In this paper, we introduce the laser sensor type fine deflection measurement system for a robot manipulator we've developed and the precision certification method with 3-axis turn table we've devised.

Development of Fine Deflection Measurement System Using Laser Sensor for Robot Manipulator and Its Precision Certification.