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The Scientific World Journal
Volume 2014, Article ID 681853, 11 pages
Research Article

Articulated Arm Coordinate Measuring Machine Calibration by Laser Tracker Multilateration

Departamento de Ingeniería de Diseño y Fabricación, Edificio Torres Quevedo, EINA, Universidad de Zaragoza, 50018 Zaragoza, Spain

Received 27 August 2013; Accepted 3 November 2013; Published 29 January 2014

Academic Editors: G. Huang and D. Veeger

Copyright © 2014 Jorge Santolaria et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A new procedure for the calibration of an articulated arm coordinate measuring machine (AACMM) is presented in this paper. First, a self-calibration algorithm of four laser trackers (LTs) is developed. The spatial localization of a retroreflector target, placed in different positions within the workspace, is determined by means of a geometric multilateration system constructed from the four LTs. Next, a nonlinear optimization algorithm for the identification procedure of the AACMM is explained. An objective function based on Euclidean distances and standard deviations is developed. This function is obtained from the captured nominal data (given by the LTs used as a gauge instrument) and the data obtained by the AACMM and compares the measured and calculated coordinates of the target to obtain the identified model parameters that minimize this difference. Finally, results show that the procedure presented, using the measurements of the LTs as a gauge instrument, is very effective by improving the AACMM precision.