Dynamic Modeling of the Laser Tracking Gimbal Used In A Laser Tracking System

摘要：

The dynamic modelling of the tracking gimbals used in a laser tracking system (LTS) is developed in this paper.Laser tracking systems 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 contact-less measurement process for robot calibration.The key component used in a 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 tracking gimbal 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 tracking gimbals using such method.

关键词： Dynamic modelling tracking gimbal laser tracking system Lagrange-Euler equations of motion.

作者: Ying Bai Dali Wang

作者单位: Department of Computer Science and Engineering,Johnson C.Smith University,NC 28216,USA Department of Physics,Computer Science and Engineering,Christopher Newport University,VA 23606,USA

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）