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Path control of a three-dimensional linear motional mechanical system using laser

机译:使用激光的三维线性运动机械系统的路径控制

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摘要

A sensory feedback controller for a three-dimensional linear-motion mechanical system is proposed. This controller specifies that the end-effector of the mechanical system will follow the path of a laser beam according to the operator's commands. Thus, it is possible to manually position the end-effector by moving the laser beam and specifying whether the end-effector should move forward or backward along its path. This system is ideal for manually operating robots. The sensor is designed to detect both the laser beam's direction and the end-effector's deviation from the beam's path. The experimental results confirm the viability of the proposed system. The controller can also be used for highly accurate servo-control because the position of the end-effector can be directly determined from the laser beam.
机译:提出了一种用于三维线性运动机械系统的感官反馈控制器。该控制器指定机械系统的末端执行器将根据操作员的指令遵循激光束的路径。因此,可以通过移动激光束并指定端部执行器应沿其路径向前还是向后移动来手动定位端部执行器。该系统是手动操作机器人的理想选择。该传感器设计用于检测激光束的方向以及末端执行器与光束路径的偏离。实验结果证实了该系统的可行性。该控制器还可以用于高精度的伺服控制,因为可以直接从激光束确定末端执行器的位置。

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