Microshift measurement of the robot while attaching the mount

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 < ±7.6 µm. For the measurements the SMR is placed in the designed mount facing the laser tracker. It is used to evaluate the accuracy of the designed mount by checking its eccentricity and repeatability

All measurement values are positional data in the three-dimensional coordinate system (x,y,z) in mm.

The following experiment was carried out to measure the shift of the robot during the attachment of the mount. The mount was attached to the robot flange, the SMR was placed in the monument and an initial position was measured with the laser tracker. Fastening was then simulated by pressing an Allen key into each of the four screw holes of the mount with a force of 25 N and taking a measurement for each.