Short and Long Term Sampling of Micro and Macro Displacements in Robotics

The paper deals with the analysis of the accuracy of the short and long term measurements in the six degrees-of-freedom (DoF) measurement system used for the sampling of axial shiftings and angular displacements, structural dynamic properties of robotic systems, engineering constructions and for the control operation in space. The analysis of the accuracy is based on algorithms for direct and inverse transformation for the computation of three axial shiftings and three angular displacements values in order to determine the relative location and orientation of a floating 2-D coordinate system against fixed 3-D coordinate system of laser rays.