Measurement of the position and orientation of mechanical arm based on laser tracker

The estimation of position and orientation measurement method of mechanical arm based on laser tracker is implemented. The dynamic measurement method is introduced to estimate the position and orientation of dynamic targets, acquired by laser tracker, in the space. Moreover, the angle and trajectory information can be real-time derived with software so that the differences between the designed and the measured angle can be obtained. The experimental results show the consistency with the designed parameters. The fluctuation of rotational angle caused by movement is less than 1° and meets the design requirements.