Dynamic modelling of the laser tracking gimbal used in a laser tracking system

被引：5
|
作者：
Bai, Ying [1 ]
Wang, Dali [2 ]
机构：
[1] Johnson C Smith Univ, Dept Comp Sci & Engn, Charlotte, NC 28216 USA
[2] Christopher Newport Univ, Dept Phys Comp Sci & Engn, Newport News, VA 23606 USA
来源：
INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL | 2011年 / 12卷 / 1-2期
基金：
美国国家科学基金会;
关键词：
dynamic modelling; tracking gimbal; TG; laser tracking system; LTS; Lagrange-Euler equations of motion;
D O I：
10.1504/IJMIC.2011.037844
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The dynamic modelling of the tracking gimbals used in a laser tracking system (LTS) is developed in this paper. LTSs are one of the most powerful measurement tools and have been widely used in the robot calibration. They provide super high calibration accuracy and automatic contactless measurement process for robot calibration. The key component used in an LTS is the tracking gimbals (TG) that provide the interactions between the laser beam and the tracking target as well as the direction that the LTS should follow. Obtaining an accurate dynamic model of the TG is the prerequisite to develop and build a LTS successfully. In this paper, a complete dynamic model of the TG used in a LTS is developed using the Lagrange-Euler equations of motion. To the authors' knowledge, this is the first paper in developing a dynamic model for TGs using such method.
引用
收藏
页码：149 / 159
页数：11
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