The strategy of three-axis photoelectric tracking system without blind region

• Published in: Mechanism and machine theory Vol. 56; pp. 89 - 98
• Main Authors: Guan, Bolin, Jia, Jianyuan, Zhu, Yingmin, Lei, Chuang
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.10.2012; Elsevier
• Subjects: Applied sciences; Blinds; Drives; Exact sciences and technology; General equipment and techniques; Instruments, apparatus, components and techniques common to several branches of physics and astronomy; Least squares method; Linkage mechanisms, cams; Mathematical models; Mechanical engineering. Machine design; Minimum norm least squares solution; Norms; Photoelectricity; Physics; Sensors (chemical, optical, electrical, movement, gas, etc.); remote sensing; Strategy; Three-axis system; Tracking; Tracking performance; Tracking strategy; Tracking systems; Tracking performance; Tracking strategy; Minimum norm least squares solution; Three-axis system; Degrees of freedom; Tracking; Redundant system; Process planning; Quaternion; Generalized function; Experimental study; Generalized inverse; Engineering design; Inverse matrix; Three axis machine; High speed; Linkage mechanism; Modelling; Speed control; Photoelectric detector; Least square fit
• ISSN: 0094-114X; 1873-3999
• DOI: 10.1016/j.mechmachtheory.2012.05.010

In order to solve the problem of spatial blind region existing in a two-axis photoelectric tracking system, a type of three-axis photoelectric tracking system is designed, which can track the target in the whole space. The kinematical model of the three-axis photoelectric tracking system with a redundant degree of freedom is constructed by quaternion, and a high-speed tracking strategy of the three-axis photoelectric tracking system is proposed based on the minimum norm least squares solution. Via triangular transformation of the three-axis kinematical function, the Moore–Penrose generalized inverse matrix of function is gained, and the minimum norm least squares solution of three-axis angular increments are solved. The results of simulation and experiment show that this tracking strategy does not need the complex optimization process, that the system is able to realize a three-axis linkage continuous tracking movement in whole space, and that the tracking angular increments of three axes get much smaller, so the tracking performance of this tracking strategy is more superior to the two-axis tracking strategy. ► We build the kinematical equation of a three-axis photoelectric tracking system. ► We build a new three-axis photoelectric tracking strategy. ► This three-axis tracking strategy can avoid the blind region. ► This three-axis tracking strategy can realize the continuous tracking movement. ► The tracking performance is more superior to the two-axis tracking system.