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Proceedings Paper

Closed-loop laser beam alignment along active robot arm
Author(s): Carla C. Neumann; Felix E. Morgan; Terry S. Shirrod
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Paper Abstract

Several applications require agile and accurate positioning of a high power laser beam. Agile positioning is generally accomplished via manipulation of some jointed support apparatus such as a robot arm. The size and weight limitations of high power lasers prevent placement of the laser at the final node of the robot arm. Hughes has developed a continuous, automatic, closed loop, alignment system for robot arm propagation of a high power laser beam based on conical scan tracking. The Hughes design employs a low power, continuous, HeNe laser for control purposes which is co-aligned with the high power beam. The control system receives its continuous feedback from a retro-reflective annulus located at the final node of the robot arm. The system includes a coelostat at each joint enabling complete angular coverage. The type II control system operates with a 30 Hz bandwidth ensuring precise alignment over typical arm velocities and accelerations.

Paper Details

Date Published: 28 May 1993
PDF: 6 pages
Proc. SPIE 1821, Industrial Applications of Optical Inspection, Metrology, and Sensing, (28 May 1993); doi: 10.1117/12.145562
Show Author Affiliations
Carla C. Neumann, Hughes Aircraft Co. (United States)
Felix E. Morgan, Hughes Aircraft Co. (United States)
Terry S. Shirrod, Hughes Aircraft Co. (United States)

Published in SPIE Proceedings Vol. 1821:
Industrial Applications of Optical Inspection, Metrology, and Sensing
Gordon M. Brown; Kevin G. Harding; H. Philip Stahl, Editor(s)

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