中文摘要：

激光跟踪测量系统是目前最新型的空间大尺寸坐标测量系统之一，具有精度高、实时快速、动态测量等特点；但在测量大型被测对象时，人工布点及测量过程繁杂，测量效率低，并造成被测对象几何形状变形，严重影响其测量精度。为解决以上问题．提出了新型的“光束运动-光靶跟踪”激光跟踪测量方法，并在此理论基础上，研究激光制导测量机器人技术，研制并开发了一种能够在水平和垂直被测对象表面上运动的小型轮臂复合式激光制导测量机器人。建立了机器人轮式运动学数学模型并对其运动特性进行了分析，给出了机器人位置跟踪控制算法、姿态跟踪控制算法和路径规划算法。通过激光跟踪仪和三坐标测量机对所提出控制算法进行了实验验证，结果证明了该算法的有效性与正确性。

英文摘要：

Laser tracking system （LTS） is one of the latest portable 3D large size coordinate measuring machines （CMM）, it measures 3D coordinates with laser beam by following a spherically mounted retro-reflector （SMR） with the advantages of broad range, high speed and high accuracy. However, current inspection task of LTS is performed manually by moving SMR along different positions on the surface of a given part and doing measurement. Because of the complex course, low efficiency and the trlal-and-error approach, current method will cause the deformation of the measured part and affect the measurement accuracy seriously. In order to perform LTS more efficiently and automatically, this paper introduces a miniature wheel-armed laser guided measuring robot （LGMR） based on a new theory ＂ laser beam moving and SMR tracking＂ instead of traditional method ＂SMR moving and laser beam tracking＂ , which can move on the horizontal and vertical surface of the measured part. The wheeled-mechanism kinematics model of LGMR is established, and the motion characteristics of LGMR are analyzed. A control algorithm for generating the movement orientation, position and optimal inspection planning is proposed for LGMR to inspect the surfaces of the given part. The laser tracker and coordinate measuring machine were used to test the control algorithm of LGMR. Experimental results demonstrate that the LGMR can track laser beam automatically and effectively carry out meas- urement on the surfaces of the given part, and also prove efficiency and correctness of this control algorithm.