Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace

Table 1

Description of measuring equipment characteristics used in the experiment.

Accuracy	= ±15 µm + 6 µm/m
All accuracies are specified as maximum permissible errors (MPE) and calculated per ASME B89.4.19-2006 and draft ISO10360-10 using precision Leica 1.5 red ring reflectors up to 60 m distance unless otherwise noted
Environmental working conditions; dust/water; operating temperature	IP54 (IEC 60529); 0°C to + 40°C
Data output rate	1 000 points/sec
Angle accuracy; distance accuracy AIFM; dynamic lock on	± 15 µm + 6 µm/m; ± 0.5 µm/m; ±10 µm
Orient to gravity (OTG)	Uz(OTG) = ± 15 µm + 8 µm/m
Leica T-Mac; position accuracy; typical rotation accuracy; rotation accuracy of timestamp	±15 µm + 6 µm/m; ± 0.01 degree; <5 microseconds
Leica T-scan 5	= ± 60 µm; 210 000 points/sec
Additional T-probe uncertainty to be added according to ISO/IEC Guide 98-3:2008 to the existing Leica absolute tracker AT960 “” uncertainty for a complete “” uncertainty up to 25 m distance
Leica T-probe	= ±35 µm
Laser safety	Class 2; IEC 60825-1 (2014-05) “safety of laser products” EN 60825-1 (2007-10) “safety of laser products”

All accuracies are stated in maximum permissible error (MPE). Typical results are half of MPE. Typical accuracy.