A Procedure for Verifying Performance Data of a Fiber Optic Gyro and the Application of the Procedure to the Testing of a Robot

摘要

Systematic and stochastic performance data of a Fiber Optic Gyro (FOG) were obtained by evaluating stationary and also dynamic measurements on a turntable rotated between 0° and 360° at high speed. For verifying a first order model of the errors a forward/backward Kalman Filter was used. During an initial and a final period respectively the turntable measurements served to calibrate the FOG. During the period in between the FOG remained unaided and the turntable measurements were used for verifying its error model. The robot test procedure was carried out similarly to the one on the turntable. The FOG was mounted near the Tool Center Point (TCP) of an industrial robot and brought parallel to the robot axis to be investigated. The test procedure began with the data collection for the FOG's pre-calibration and ended with the one for its post-calibration. During these periods the FOG was rotated between 0° and 360° with the help of the robot's outer axis. The period in between was used for testing the robot axis in question. The off-line data evaluation using again forward/backward Kaiman filtering started with the FOG calibration in the pre- and post-positions so that in a second round its data could be used for the robot test as a reference. Test data for the different investigations are presented.