A target positioning method for ICF laser facility without translational kinematic coupling

摘要

The target position system (TPS) is one of the important subsystems of an ICF laser facility. However, TPS shows to have kinematic coupling problem in practice. This necessitates iterative adjustment of the Stewart 6-DOF manipulator to make the pose of the target as expected. In every iteration, the pose of the target must be measured, making TPS incompetent in some scenarios which call for only one step to position a target. To handle this problem, this paper proposes a target positioning method focusing on translational kinematic coupling. This method have a significant advantage that it has no relation with both the geometric parameters and the mounting of the target. This makes the proposed positioning method featured by a good practicality. Experiment results show that the proposed method can greatly reduce the position error when positioning a target by only one step.