Self-compensating laser tracker

Abstract

A self-compensating laser tracker may include a frame assembly including a laser, and at least two-embedded, non-moveable, reflecting members; and a rotatable mirror. The laser and the mirror are arranged such that a laser beam emitted from the laser may be reflected by the mirror. One of the at least two reflecting members may be a cube corner retroreflector and a second of the at least two reflecting members may be a frame assembly mirror. The cube corner retroreflector and the frame assembly mirror may be fixed in position on the frame assembly relative to the rotatable payload and relative to each other, and are structured to reflect the laser beam in a frontsight mode and a backsight mode.

What is claimed is: 
     
       1. A self-compensating laser tracker comprising:
 a frame assembly comprising:
 a laser; and 
 at least two-embedded, non-moveable, reflecting members; and 
 
 a rotatable mirror; 
 wherein the laser and the mirror are arranged such that a laser beam emitted from the laser is reflected by the mirror; 
 one of the at least two reflecting members is a cube corner retroreflector and a second of the at least two reflecting members is a frame assembly mirror; and 
 wherein the cube corner retroreflector and the frame assembly mirror are fixed in position relative to each other on a stationary portion of the frame assembly relative to the rotatable payload and relative to each other, and are structured to reflect the laser beam in a frontsight mode and a backsight mode. 
 
     
     
       2. A self-compensating laser tracker in accordance with  claim 1 , wherein the frame assembly comprises a gimbaled mechanism. 
     
     
       3. A self-compensating laser tracker in accordance with  claim 2 , wherein the gimbaled mechanism produces motion in the azimuth and zenith directions. 
     
     
       4. A self-compensating laser tracker comprising:
 a frame assembly comprising:
 a laser; and 
 at least two-embedded, non-moveable, reflecting members; and 
 
 a rotatable structure comprising at least one mirror; 
 wherein the laser and the mirror are arranged such that a laser beam emitted from the laser is reflected by the mirror; 
 one of the at least two reflecting members is a cube corner retroreflector and a second of the at least two reflecting members is a frame assembly mirror; and 
 wherein the cube corner retroreflector and the frame assembly mirror are fixed in position relative to each other on a stationary portion of the frame assembly relative to the rotatable payload and relative to each other, and are structured to reflect the laser beam in a frontsight mode and a backsight mode. 
 
     
     
       5. A self-compensating laser tracker that emits a laser beam, comprising:
 a rotatable payload from which the laser beam is emitted;   at least two embedded, non-moveable, reflecting members provided on a support for the payload;   wherein one of said at least two reflecting members is a cube corner retroreflector and a second of said at least two reflecting members is a mirror and wherein the cube corner retroreflector and the mirror are fixed in position on the support relative to each other and are structured to reflect the laser beam in a frontsight mode and a backsight mode when the payload is rotated accordingly in order to determine and then self-compensate for deviations in desired payload parameters where the payload parameters describe position and orientation of the laser beam.   
     
     
       6. A self-compensating laser tracker in accordance with claim 5, wherein said support comprises a gimbaled mechanism. 
     
     
       7. A self-compensating laser tracker in accordance with claim 6, wherein said gimbaled mechanism produces motion in azimuth and zenith directions.