An Optical Path Tracking Control Method for Robots Based on Laser Sensing

As technology advances, lasers play a crucial role in cutting-edge fields such as surveying, communication, and non-destructive testing. Nevertheless, the challenge of optical path deviation persists as a formidable hurdle during applications, necessitating prompt optical path tracking. To address this, this paper presents a novel approach: An optical path tracking control method for robots based on laser sensing, engineered to swiftly rectify laser optical path misalignments. Initially, a laser tracking control system anchored on a manipulator is devised and constructed, emulating real-world scenarios encountered in practical applications. Subsequently, the optical path reflection relationships of the system are scrutinized, employing laser sensing and PID control algorithms to maneuver the robotic arm for precise optical path tracking in both reflection and occlusion scenarios. Finally, simulation experiments are conducted to verify the performance of the system under low angular velocity conditions. The experimental results indicate that the system can quickly track optical path deviations at an angular velocity of 2 rad/s, with tracking errors controlled within approximately 0.2 mm. This performance meets the tracking requirements for various application scenarios in industrial production and aerospace.