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Proceedings Paper

Communication of the multi laser tracker system used as position feedback sensor
Author(s): Tran Trung Nguyen; Arvid Amthor; Christoph Ament
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Paper 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.

Paper Details

Date Published: 20 April 2011
PDF: 12 pages
Proc. SPIE 8065, SPIE Eco-Photonics 2011: Sustainable Design, Manufacturing, and Engineering Workforce Education for a Green Future, 806512 (20 April 2011); doi: 10.1117/12.883999
Show Author Affiliations
Tran Trung Nguyen, Technische Univ. Ilmenau (Germany)
Arvid Amthor, Technische Univ. Ilmenau (Germany)
Christoph Ament, Technische Univ. Ilmenau (Germany)


Published in SPIE Proceedings Vol. 8065:
SPIE Eco-Photonics 2011: Sustainable Design, Manufacturing, and Engineering Workforce Education for a Green Future
Pierre Ambs; Dan Curticapean; Claus Emmelmann; Wolfgang Knapp; Zbigniew T. Kuznicki; Patrick P. Meyrueis, Editor(s)

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