Planarity measurement of a low-cost mount for attaching a laser tracker's SMR to a robot flange

This data is part of the paper: "Design and Evaluation of a Low-Cost Mount for Attaching a Laser Tracker’s SMR to a Robot Flange". It was created by using the software FARO CAM2 for the laser tracker FARO Vantage E with a 1.5 inch Standard Accuracy Break Resistant SMR from FARO with gold covering, a range of 60 m and a centring accuracy of All measurement values are positional data in the three-dimensional coordinate system (x,y,z) in mm.Two sources of error that affect the eccentricity measurements are the unevenness of the 3D printed mount and the deviation from parallelism of the planes Ez⃗Ly⃗L and Ex⃗Ry⃗R. The issue with an uneven surface is that measurement points are taken on a tumbling plane when the robot’s wrist 3 is rotated, which makes it challenging and unreliable to fit a circle into the point cloud. The issue of deviation from parallelism is that the measurement points must be projected onto the appropriate plane in order to fit a circle into them. Although the underlying algorithm of circle-fitting-3d is designed to address this challenge, a projection to the yz-plane of the laser tracker is a more reliable approach. To specify the magnitude of the errors, they were measured. Therefore ten measurement points on the monument of the mount were taken and analysed. The planarity of the printed mount is 0.014 mm and the angle between the planes Ez⃗Ly⃗L and Ex⃗Ry⃗R is 0.115◦.