The NASA Marshall Space Flight Center (MSFC) wanted the robots in the Flight Robotics Laboratory (FRL) and the Contact Dynamics Simulation Lab (CDSL), which make up the MSFC integrated testbed, to be verified using dynamic measurements with six degrees of freedom (6DoF) to determine how accurately the robots respond to commanded moves.
A top-of-the-line Leica LTD800 Laser Tracker with a Leica T-Cam and a Leica T-Probe were used for the measurements without any special modifications. This arrangement provided the measurement capability for XYZ coordinates along with rotation angles for full six degrees of freedom information for the position of the Leica T-Probe, which was used without a stylus.
