Abstract：In this work theodolites are used to measure the systematic errors of articulated3-coordinate measuring device accurately,and the compensation is carried out.Atfirst unlinear errors between joint angles and the relevant encoder readings are deter-mined,and then real geometric parameters and joint encoder offsets are to be estim-ated.Thus compensation software can be developed.Our experiments shows thatthe improved measurement software almost eliminates all systematic errors.
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