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J. Schlarp, E. Csencsics, G. Schitter:
"Scanning laser triangulation sensor geometry maintaining imaging condition";
Vortrag: Joint Conference 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019), Wien; 04.09.2019 - 06.09.2019; in: "Proceedings of the Joint Conference 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019)", IFAC-PapersOnLine/Elsevier, 52/15 (2019), 6 S.

This work deals with the system design, control and the experimental results of a scanning laser sensor in which the optical path is scanned by a novel high performance compact fast steering mirror (FSM). The system design satisfies the Scheimpflug condition even though only the illumination path is scanned, such that an FSM with a small aperture size and high bandwidth can be used. To scan the area of interest with the FSM, raster trajectories are employed, which provide an uniform spatial resolution over the scan area. To track the trajectory a feedback controller is designed using the H1-approach, such that a closed loop bandwidth of 1.4 kHz is achieved. The FSM can follow triangular signals up to 200 Hz with the maximum actuation range of ±3°. This enables a framerate of up to two frames per second for an image with 100x100 pixels. With the scanning system a maximum spatial resolution of 60 µm and a scan range of 25 mm can be achieved.

Absolute measurement, Precision measurements, 3D Sensor, Laser Sensor, Fast Steering Mirror, Optical Sensing and Sensors, System Design, Scheimpflug Condition

http://dx.doi.org/10.1016/j.ifacol.2019.11.691

https://publik.tuwien.ac.at/files/publik_281665.pdf