The aim of this WP is to ensure that the Frequency Scanning Interferometry (FSI) system can be used to provide coordinates of fast-moving items, as well as output target data suitable for integration into control loops of robots. In Task 1.1, NPL’s OPTIMUM hardware will be updated to allow it to provide quantified outputs (coordinates, uncertainties) fast enough to generate 84 Hz – 100 Hz data inputs suitable for closed loop robotic control. In Task 1.2, the aim is to deliver Doppler shift/broadening corrections to compensate for target position errors caused by target motion at speeds up to 150 mm/s during an FSI scan (or vibration/air turbulence) which cause frequency shifts and spectral peak broadening leading to a range measurement error. Task 1.3 focuses on updates to the beam steering system needed to keep the FSI beams pointed at moving targets. This includes changes to the beam shaping algorithms and use of outputs from the control system developed in Task 1.4 by the OPTIMUM system as a way of predicting future target location when used in close loop control. Task 1.4 will focus on solving the issues associated with providing both inputs to and taking outputs from, a robotic control system. The inputs, coming from systems such as OPTIMUM will be integrated into the control system to provide trajectory compensation for the robot (to reduce from typical mm-scale uncompensated errors). The improvement to the robotic motion will be targeted at improving the tool path, correcting for both uncompensated motion/geometry errors of the robot, and, uniquely, also using high-speed FSI data to compensate for some of the modal vibration of the robot structure caused by forces where the tool contacts a surface being machined – this requires close knowledge of data latency through the entire system.
