METHOD AND APPARATUS FOR TRACKING POSITION AND ORIENTATION OF A STYLUS AND FOR DIGITIZING A 3-D OBJECT

摘要

A method for calibrating a probe apparatus includes positioning a probe such that a known point on the probe is located at an arbitrary location within a selected volume with respect to a support base of the probe apparatus. The orientation of the probe is varied to move a plurality of joints of a mechanical linkage assembly coupled to the probe while maintaini ng the known point on the probe at the arbitrary location. Sets of data are sampled at a plurality of orientations of the probe as the orientation of the probe is varied about the arbitrary location . The sets of data are provided by sensors and describe different configurations of angles of the joints. Spatial coordinates for the known point on the probe are determined at each of the plurality of orientations of the probe. An error value between the spatial coordinates determined for each of the plurality of orientations is determined. The accuracy of positioned and orientation data provided by the probe apparatus is increased by determining calibration parameters based on the error values. The calibration parameters are used when determining the position and orientation of the probe in normal usage.