The nonlinear errors of Position Sensitive Detectors (PSD) will cause the less tracking accuracy of the laser trackers. To address the issue, in this paper we proposed a nonlinear compensation method, combining Sparrow Search Algorithm (SSA) with BP neural network. The SSA was employed to find optimal initial thresholds and weights of the BP neural network. An SSA-BP neural network model was created and tested using 443 sets of experimental data. The experimental results show that this method reduces the peak error of the BP neural network by over 7 times and lowers the average error by more than 2 times, significantly enhancing the measurement accuracy of the detector.
In the case of industrial field measurement, the present measuring instruments work with manual operation and collimation, which give rise to low efficiency for field measurement. In order to solve the problem, a new type industrial total station is presented in this paper. The new instrument can identify and trace cooperative target automatically, in the mean time, coordinate of the target is measured in real time. For realizing the system, key technology including high precision absolutely distance measurement, small high accuracy angle measurement, target automatic collimation with vision, and quick precise controlling should be worked out. After customized system assemblage and adjustment, the new type industrial total station will be established. As the experiments demonstrated, the coordinate accuracy of the instrument is under 15ppm in the distance of 60m, which proved that the measuring system is feasible. The result showed that the total station can satisfy most industrial field measurement requirements.
Based on Programmable Multi-axes Controller (PMAC), a design of a multi axis motion control system for the simulator of spatial targets’ dynamic optical properties is proposed. According to analysis the properties of spatial targets’ simulator motion control system, using IPC as the main control layer, TurboPMAC2 as the control layer to meet coordinated motion control, data acquisition and analog output. A simulator using 5 servomotors which is connected with speed reducers to drive the output axis was implemented to simulate the motion of both the sun and the space target. Based on PMAC using PID and a notch filter algorithm, negative feedback, the speed and acceleration feed forward algorithm to satisfy the axis’ requirements of the good stability and high precision at low speeds. In the actual system, it shows that the velocity precision is higher than 0.04 s ° and the precision of repetitive positioning is better than 0.006° when each axis is at a low-speed. Besides, the system achieves the control function of multi axis coordinated motion. The design provides an important technical support for detecting spatial targets, also promoting the theoretical research.
In-situ intelligent manufacturing for large-volume equipment requires industrial robots with absolute high-accuracy positioning and orientation steering control. Conventional robots mainly employ an offline calibration technology to identify and compensate key robotic parameters. However, the dynamic and static parameters of a robot change nonlinearly. It is not possible to acquire a robot’s actual parameters and control the absolute pose of the robot with a high accuracy within a large workspace by offline calibration in real-time. This study proposes a real-time online absolute pose steering control method for an industrial robot based on six degrees of freedom laser tracking measurement, which adopts comprehensive compensation and correction of differential movement variables. First, the pose steering control system and robot kinematics error model are constructed, and then the pose error compensation mechanism and algorithm are introduced in detail. By accurately achieving the position and orientation of the robot end-tool, mapping the computed Jacobian matrix of the joint variable and correcting the joint variable, the real-time online absolute pose compensation for an industrial robot is accurately implemented in simulations and experimental tests. The average positioning error is 0.048 mm and orientation accuracy is better than 0.01 deg. The results demonstrate that the proposed method is feasible, and the online absolute accuracy of a robot is sufficiently enhanced.
Straightness detection is not only one of the key technologies for the product quality and installation accuracy of all types of lead rail, but also an important dimensional measurement technology. The straightness measuring devices now available have disadvantages of low automation level, limiting by measuring environment, and low measurement efficiency. In this paper, a wireless measurement system for straightness detection based on position sensitive detector (PSD) is proposed. The system has some advantage of high automation-level, convenient, high measurement efficiency, easy to transplanting and expanding, and can detect straightness of lead rail in real-time.
A complete theory is established for opto-mechanical systems design of the window in this paper, which can make the design more rigorous .There are three steps about the design. First, the universal model of aerodynamic environment is established based on the theory of Computational Fluid Dynamics, and the pneumatic pressure distribution and temperature data of optical window surface is obtained when aircraft flies in 5-30km altitude, 0.5-3Ma speed and 0-30°angle of attack. The temperature and pressure distribution values for the maximum constraint is selected as the initial value of external conditions on the optical window surface. Then, the optical window and mechanical structure are designed, which is also divided into two parts: First, mechanical structure which meet requirements of the security and tightness is designed. Finally, rigorous analysis and evaluation are given about the structure of optics and mechanics we have designed. There are two parts to be analyzed. First, the Fluid-Solid-Heat Coupled Model is given based on finite element analysis. And the deformation of the glass and structure can be obtained by the model, which can assess the feasibility of the designed optical windows and ancillary structure; Second, the new optical surface is fitted by Zernike polynomials according to the deformation of the surface of the optical window, which can evaluate imaging quality impact of spectral camera by the deformation of window.
A new type femtosecond laser tracker is one high precision measurement instrument with urgent need in science research region and industrial manufacture field. This paper focuses on the operational principle and the structure development of the femtosecond laser tracer, and the method of error compensation as well. The system modules were studied and constructed. The femtosecond frequency comb module was firstly analyzed and developed. The femtosecond laser frequency comb performed perfectly high precise distance measurement for laser tracker. The experimental result showed that the stability of repetition rate reached 3.0×10-12@1s and the stability of carrier envelop offset reached 1.0×10-10@1s. The initial experiment showed that measurement error was less than 1ppm. Later the error compensation module was introduced, and the optoelectronic aiming and tracking control module was built. The actual test result showed that the stability of miss distance was better than 2.0 μm, the tracking speed could reach 2m/s.
Geometric errors in laser trackers such as light offset and transit tilt have essential influence on the system measurement errors. Thus error detection and calibration are very important for producers and customers to execute error compensation. Different methods are developed to detect and calibrate errors. However, the commonly used methods such as length measurement and two-face measurement are sensitive to several misalignments which cannot calibrate errors directly and separately. In this paper a series of methods for detecting and calibrating geometric errors such as mirror tilt, beam tilt and transit tilt were presented which can calibrate geometric errors individually and precisely. The mirror tilt could be detected with the help of two autocollimators and one polygon. Then the beam tilt and offset errors were calibrated using a CCD camera and condenser lenses. Finally the transit tilt error was calibrated using a gradient and a vertical plane. Experiments and error assessment were executed to show that the accuracy of the calibration methods can meet the user’s demand.
The working principle and system design of the laser tracker measurement system are introduced, as well as the key technologies and solutions in the implementation of the system. The design and implementation of the hardware and configuration of the software are mainly researched. The components of the hardware include distance measuring unit, angle measuring unit, tracking and servo control unit and electronic control unit. The distance measuring devices include the relative distance measuring device (IFM) and the absolute distance measuring device (ADM). The main component of the angle measuring device, the precision rotating stage, is mainly comprised of the precision axis and the encoders which are both set in the tracking head. The data processing unit, tracking and control unit and power supply unit are all set in the control box. The software module is comprised of the communication module, calibration and error compensation module, data analysis module, database management module, 3D display module and the man-machine interface module. The prototype of the laser tracker system has been accomplished and experiments have been carried out to verify the proposed strategies of the hardware and software modules. The experiments showed that the IFM distance measuring error is within 0.15mm, the ADM distance measuring error is within 3.5mm and the angle measuring error is within 3〞which demonstrates that the preliminary prototype can realize fundamental measurement tasks.
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