One of the activities for which the Automation and Robotics Laboratories are used most is the characterisation of robot systems. For this reason a series of Measurement Systems have been acquired/developed. Besides generic metrology lab instruments the labs have a series of very specialised Measurement Systems
3D Geometry Measurement
RIEGL LMS-Z210i Terrestrial Laser Scanner
The scanner allows to acquire the digitally geometrical shape of objects or to perform static geometric measurements. It is used in the Planetary Utilisation Testbed to model the geometry of the terrain and measure the position of reference points.
The scanner is commercial, however it is based on the ASIS scanner developed by RIEGL for ESA under the Technology Research Programme.
Robot Motion Capture and Calibration
Krypton RODYM 6D Robot Measurement and Calibration System
This is a camera based dynamic position measurement system that uses 3 CCD units to measure the position of one or more infrared LED equipped probes. By attaching the probes to a moving robot, position, velocity and acceleration are measured.
The system is used in the Internal A&R Testbed for workcelll and robot calibration, in the Planetary Utilisation Testbed as rover tracking device.
The equipment is commercial, however it is based on an ESA development performed by Krypton under the Technology Research Programme.
Terramechanics Characterisation: Single wheel
ESA has developed a single wheel terramechanics measurement system through the RCET activity of the Technology Research programme.
Terramechanics Characterisation: Whole rover
ESA has developed a whole rover terramechanics measurement system through the RCET activity of the Technology Research programme.