libMetrology

Library for mechanical metrology frame analysis , based on Homogenous Transformation Theorem

Analysis

• orthogonal vector constrain and generating
• laser frame calibration flow and model

Preparation

1. forward/inverse-kinematic model for pod

• given X,Y,Z,U,V,W , output Transformation matrix
• given Transformation matrix , solve X,Y,Z,U,V,W

2. orthogonal vector/points commands to Pod , for calibration of C1
3. orthogonal vector/points commands to Pod , for calibration of C2
4. orthogonal vector/points commands to Pod , for calibration of C3

Functions

Simulation (Using the real kinematic parameters)

Workpiece Chain

1. given known R-C1 Error , extract it along Camera Calibration Flow, evaluating calculation error
2. given known R-C2 Error , extract it using Camera Calibration Flow, evaluating calculation error
3. given known R-C3 Error , extract it using Camera Calibration Flow, evaluating calculation error
4. given known End Effctor Position/Posture Error , extract it by C1/C2/C3 reading , evaluating calculation error

Board Chain