Repeatability measurement of low cost laser tracker SMR to robot flange mount

This data is part of the paper: "Construction and Evaluation of a Low-Cost Laser Tracker SMR to Robot Flange Mount". It was created by using the software FARO CAM2 for the laser tracker FARO Vantage E with a 1.5" Standard Accuracy Break Resistant SMR from FARO with gold covering, a range of 60m and a centring accuracy of < ±7.6µm. For the measurements the SMR is placed in the designed mount facing the laser tracker. It is used to evaluate the accuracy of the designed mount by checking its eccentricity and repeatability.All measurement values are positional data in the three-dimensional coordinate system (x,y,z) in mm.To measure the repeatability of the SMR on the robot flange mount, the robot arm is kept static. The SMR is removed from the monument in the mount and re-positioned 10 times. Each placement is measured by the laser tracker, resulting in 10 measurement points. In another experiment, the entire mount is removed from the robot’s flange and reinstalled. The screws are loosened completely and tightened again when it is remounted. This procedure is repeated 5 times and the SMR is always removed from the monument. The laser tracker measurements are carried out when the mount is fixed and the SMR is back in the monument, resulting in 5 measurement points. Each of the two experiments is carried out in one setting, without breaks, to avoid changes in the measurement conditions and the setting.