Figure 3
The diagram contains six robot joint measurement views labelled Joint 1 to Joint 6. Each view shows a laser source, measurement beams and a retroreflector mounted near the selected robot joint. Joint 1 shows the beam path beside the base joint, with plus and minus rotation marked around a vertical axis. Joint 2 shows the beam path across the lower arm joint, with plus and minus rotation marked around an angled axis. Joint 3 shows the beam path near the upper arm joint, with plus and minus rotation marked around a tilted axis. Joint 4 shows the beam path near the wrist connection, with an inset of the retroreflector mount and plus and minus rotation marked around the joint axis. Joint 5 shows beams passing between two tripod-mounted units and a retroreflector near the wrist joint. Joint 6 shows the beam path near the end-effector joint, with plus and minus rotation marked around the tool axis.Mechanical fixtures used to mount the angular optical setup on robot joints
Source: Authors’ own work