High bandwidth, dynamically rigid metrology system for the measurement and control of intelligent manufacturing processes

• US 5,666,202 A
• Filed: 08/22/1995
• Issued: 09/09/1997
• Est. Priority Date: 08/22/1995
• Status: Expired due to Term

• Current Assignee: Demos Kyrazis
• Original Assignee: Demos Kyrazis
• Inventors: Kyrazis, Demos
• Primary Examiner(s): Font, Frank G.
• Assistant Examiner(s): STAFIRA, MICHAEL PATRICK
• Application Number:
  US08/518,106
• Time in Patent Office: 749 Days
• Field of Search: 356/372, 356/375, 356/307, 356/376, 250/222, 250/222.1, 250/561, 395/89, 395/93, 395/94, 364/571.01
• US Class Current: 356/614
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/40601 Reference sensors
• CPC Class Codes: G05B 2219/40623 Track position of end effector by laser beam

Abstract

A high bandwidth, dynamically rigid metrology system for providing real time control of an optical steering element includes a pair of stabilized laser beam directors (SLBD), a reference subsystem, a tool sensor subsystem, and at least one processor. Each SLBD includes a base, a beam pointing and stabilization apparatus mechanically coupled to the base, three reference beam lasers and a stabilized beam laser attached to the base, and a metric structure which is mechanically coupled to the SLBD providing a locally rigid SLBD coordinate system. Each beam pointing and stabilization apparatus includes an optical steering element and an axis tilt detector. The optical steering element is optically coupled to the stabilized beam laser and steers the stabilized beam laser in response to an input signal. The optical steering element provides error signals associated with a position and an orientation of the optical steering element relative to the locally rigid SLBD coordinate system. The optical steering element further includes a rotational axis. The axis tilt detector provides signals indicating an angle of tilt and a direction of the rotational axis relative to an initial position of the rotational axis. The reference subsystem includes three reference detectors fixedly positioned relative to a workpiece providing a locally rigid workpiece coordinate system. The three referenced detectors are respectively in optical communication with the three reference beam lasers of each of the SLBDs. The reference detectors generate reference detector output signals in response to the reference beam lasers. The tool sensor subsystem includes at least one tool sensor detector positioned on a tool and in optical communication with the stabilized beam laser. The at least one tool sensor detector generates tool sensor detector output signals in response to the stabilized beam laser. The at least one processor receives and performs coordinate transforms on the referenced detector output signals and the tool sensor detector output signals to track a position of the tool relative to the locally rigid workpiece coordinate system. The at least one processor additionally receives and processes the angle of tilt and direction signals from the axis tilt detector and the error signals from the optical steering element to generate the input signal thereby providing real time control of the optical steering elements.

Claims

1. A high-bandwidth, dynamically rigid metrology system for providing real time control of an optical steering element, the system comprising:

a pair of stabilized laser beam directors (SLBD) each including a base, a beam pointing and stabilization apparatus mechanically coupled to said base, three reference beam lasers and a stabilized beam laser attached to said base and a metric structure mechanically coupled to said SLBD providing a locally rigid SLBD coordinate system, each beam pointing and stabilization apparatus including an optical steering element and an axis tilt detector, said optical steering element being optically coupled to said stabilized beam laser and steering said stabilized beam laser in response to an input signal, said optical steering element providing error signals associated with a position and an orientation of said optical steering element relative to said locally rigid SLBD coordinate system, said optical steering element further including a rotational axis, said axis tilt detector providing signals indicating an angle of tilt and a direction of said rotational axis relative to an initial position of said rotational axis;

a reference subsystem including three reference detectors fixedly positioned relative to a workpiece providing a locally rigid workpiece coordinate system, said three reference detectors respectively being in optical communication with said three reference beam lasers of each said SLBD, said reference detectors generating reference detector output signals in response to said reference beam lasers;

a tool sensor subsystem including at least one tool sensor detector positioned on a tool and in optical communication with said stabilized beam laser, said at least one tool sensor detector generating tool sensor detector output signals in response to said stabilized beam laser; and

at least one processor receiving and performing coordinate transforms on the reference detector output signals and the tool sensor detector output signals to track a position of the tool relative to the locally rigid workpiece coordinate system, said at least one processor receiving and processing the angle of tilt and direction signals from said axis tilt detector and the error signals from said optical steering element to generate said input signal thereby providing real time control of said optical steering element.

2. The high-bandwidth, dynamically rigid metrology system of claim 1 wherein said stabilized beam laser comprises a single mode laser.

3. The high-bandwidth, dynamically rigid metrology system of claim 1 wherein said optical steering element comprises:

a large angle driver controlling an orientation of said beam pointing and stabilizing apparatus relative to said base and generating the error signals; and

a high-speed beam deflector optically coupled to said stabilized beam laser and steering said stabilized beam laser in response to the input signal.

4. The high-bandwidth, dynamically rigid metrology system of claim 3 wherein said large angle driver includes at least one encoder generating the error signals.

5. The high-bandwidth, dynamically rigid metrology system of claim 3 wherein said high-speed beam deflector comprises an acousto-optic beam deflector optically coupled to and steering said stabilized beam laser in response to the input signal.

6. The high-bandwidth, dynamically rigid metrology system of claim 3 wherein said high-speed beam deflector comprises:

a beam expander optically coupled to said stabilized beam laser and outputting an expanded stabilized beam; and

an acousto-optic beam deflector receiving and steering the expanded stabilized beam in response to the input signal.

7. The high-bandwidth, dynamically rigid metrology system of claim 1 wherein said axis tilt detector comprises:

a substantially planar conductive surface fixedly positioned relative to a reference plane of said beam pointing and stabilization apparatus; and

an electrode plane comprising at least three electrodes fixedly positioned relative to said rotational axis, capacitances between said conductive surface and said at least three electrodes facilitating a measurement of the angle of tilt and direction signals.

8. The high-bandwidth, dynamically rigid metrology system of claim 7 wherein said conductive surface comprises an optical flat.

9. A control system for an optical steering element in a high-bandwidth dynamically rigid metrology system, the system comprising:

a pair of stabilized laser beam directors (SLBD) each within a locally rigid SLBD coordinate system, each of said SLBDs including an optical steering element and an axis tilt detector, each of said optical steering elements steering a stabilized beam laser in response to an input signal, said optical steering elements of each SLBD including a rotational axis and outputting error signals associated with a position and orientation of said optical steering element relative to said locally rigid SLBD coordinate system, said axis tilt detector of each SLBD providing signals indicating an angle of tilt and a direction of said rotational axis relative to an initial position of said rotational axis; and

a reference subsystem providing a locally rigid workpiece coordinate system and outputting signals indicating positions of said SLBDs relative to said reference subsystem; and

a processor processing the signals from said reference subsystem relating said locally rigid SLBD coordinate systems to each other and to said locally rigid workpiece coordinate system and processing the error signals and the angle of tilt and direction signals to generate the input signal to steer the stabilized beam laser in real time.

10. The high-bandwidth, dynamically rigid metrology system of claim 9 wherein said stabilized beam laser generates a circular and collimated outgoing beam.

11. The high-bandwidth, dynamically rigid metrology system of claim 9 wherein said optical steering element comprises:

a large angle driver controlling coarse movements of said optical steering element and generating the error signals; and

a high-speed beam deflector optically coupled to said stabilized beam laser and controlling fine steering of said stabilized beam laser in response to the input signal.

12. The high-bandwidth, dynamically rigid metrology system of claim 11 wherein said large angle driver includes two encoders generating the error signals.

13. The high-bandwidth, dynamically rigid metrology system of claim 11 wherein said high-speed beam deflector comprises a Bragg .cell optically coupled to and steering said stabilized beam laser in response to the input signal.

14. The high-bandwidth, dynamically rigid metrology system of claim 11 wherein said high-speed beam deflector comprises:

a beam expander optically coupled to said stabilized beam laser and outputting an expanded stabilized beam; and

a Bragg cell receiving and steering the expanded stabilized beam in response to the input signal.

15. The high-bandwidth, dynamically rigid metrology system of claim 9 wherein said axis tilt detector comprises:

a substantially planar conductive surface fixedly positioned relative to a reference plane of said SLBD; and

at least three electrodes fixedly positioned relative to said rotational axis, capacitances between said conductive surface and said at least three electrodes facilitating a measurement of the angle of tilt and direction signals.

16. The high-bandwidth, dynamically rigid metrology system of claim 15 wherein said conductive surface comprises an optical flat.

17. A dynamically rigid metrology system comprising:

a work-piece reference subsystem including a work-piece and at least three fixed broad area laser beam sensors fixedly mounted on the work-piece;

a tool sensor reference subsystem including a controlled tool for interfacing with the work-piece, a mechanism for controlling the position of the controlled tool and a broad area laser beam sensor mounted on the tool adjacent to a point of interaction of the tool with the work-piece;

two spaced stabilized laser beam directors (SLBD), each said SLBD directing a laser beam at each of the fixed broad area laser beam sensors, and each said SLBD also directing a tracking laser beam at the broad area laser beam sensor on the tool; and

a computational subsystem;

said work-piece reference system being adapted to employ the laser beams at each of the fixed broad area laser beam sensors to measure motions of the SLBDs relative to the work-piece;

said computational subsystem being adapted to employ data indicating the motions of the SLBDs relative to the work-piece to provide a functional equivalent of a globally rigid system between locally rigid reference sites at the work-piece and the SLBDs.

18. A system as defined in claim 17 wherein said tool reference subsystem is further adapted to measure positions of the tracking lasers on the sensors on the tool to generate error signals.

19. A system as defined in claim 17 wherein each said SLBD includes a high speed laser beam director for shifting the orientation of said tracking laser beams to track the movement of the tool.

20. A system as defined in claim 17, further comprising circuitry for controlling the position of said tool in accordance with signals received from said fixed and said tracking broad area laser beam sensors.