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

Abstract

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>