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

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

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

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