Verfahren und Vorrichtung zur Lage- und Orientierungsmessung eines Tastkopfes und zur Digitalisierung eines 3-D-Objektes

摘要

A method and apparatus for measuring three-dimensional (3-D) coordinates. A 3-D object can be digitized into a mesh representation manipulable by a computer system (18) by tracing a stylus of a probe apparatus (22) over surfaces of the object. The probe apparatus includes an arm having a series of linkages and joints. The arm can be assembled by placing the ejoints of the arm in joint fixtures a desired distance and angle apart and bonding the joints to a linkage. The probe apparatus is calibrated by placing the etip of the stylus (22) at an arbitrary point in a work volume and varying the stylus orientation to find error values and determine calibration parameters. The sensors of the probe apparatus are zeroed by placing the probe apparatus in the only posible home position and assigning assumed starting angle to the sensors.