Communication of the multi laser tracker system used as position feedback sensor

Tran Trung Nguyen; Arvid Amthor; Christoph Ament

doi:10.1117/12.883999

20 April 2011 Communication of the multi laser tracker system used as position feedback sensor

Tran Trung Nguyen, Arvid Amthor, Christoph Ament

Proceedings Volume 8065, SPIE Eco-Photonics 2011: Sustainable Design, Manufacturing, and Engineering Workforce Education for a Green Future; 806512 (2011) https://doi.org/10.1117/12.883999
Event: SPIE Eco-Photonics, 2011, Strasbourg, France

Abstract

This paper presents a communication as well as localization algorithm of a multi laser tracker system (MLTS). The proposed localization algorithm enables the possibility to find a retro-reflector, which is mounted on the Tool Center Point (TCP) of a positioning stage. The MLTS consists of four laser trackers and is used as a high precision feedback sensor in order to provide a contactless measurement of the position. A single laser tracker is build up out of a homodyne laser interferometer as well as a galvanometer scanner and tracks the retro-reflector by utilization of a model-based PID controller. Using the Archimedean spiral a mathematical localization algorithm of the retro-reflector is designed. This approach was chosen due to the fact, that it allows the laser beam to search the retro-reflector in the complete working range of the tracker. The algorithm is derived in polar coordinates and is afterwards transformed into angle coordinates of the galvanometer scanner. In the second part of the presented study, a communication channel between the laser trackers is designed. This enables the possibility to speed up the localization of the retro-reflector significantly, because the position of the TCP is determined using the triangulation. Hence only two laser trackers are required in the first localization step. In the case, that the TCP was found, the information is utilized to support the residual laser trackers of the MLTS to localize the retro-reflector. At the end it is shown by experimental results, that the communication between the laser trackers is effective in order to localize the retro-reflector as fast as possible.

Citation Download Citation

Tran Trung Nguyen, Arvid Amthor, and Christoph Ament "Communication of the multi laser tracker system used as position feedback sensor", Proc. SPIE 8065, SPIE Eco-Photonics 2011: Sustainable Design, Manufacturing, and Engineering Workforce Education for a Green Future, 806512 (20 April 2011); https://doi.org/10.1117/12.883999

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available