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

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.