Robot calibration using a portable photogrammetry system

The obtained results show that the FARO laser tracker ION performs slightly better: The absolute positional accuracy obtained with the laser tracker is 0.365 mm and 0.147 mm for the maximum and the mean position errors, respectively. Nevertheless, the results obtained by using the MaxSHOT 3D are almost as good as those obtained by using the laser tracker: 0.469 mm and 0.197 mm for the maximum and the mean position errors, respectively. Performances in distance accuracy, after calibration (i.e. maximum errors), are respectively 0.329 mm and 0.352 mm, for the laser tracker and the MaxSHOT 3D. However, as the validation measurements were acquired with the laser tracker, bias favors this device. Thus, we may conclude that the calibration performances of the two measurement devices are very similar.