Frontiers of Information Technology & Electronic Engineering
>> 2021,
Volume 22,
Issue 12
doi:
10.1631/FITEE.2000432
Fused-like angles: replacement for roll-pitch-yaw angles for a six-degree-of-freedom grating interferometer
Affiliation(s): Center of Ultra-precision Optoelectronic Instrument Engineering, Harbin Institute of Technology, Harbin 150080, China; Key Lab of Ultra-precision Intelligent Instrumentation (Harbin Institute of Technology), Ministry of Industry and Information Technology, Harbin 150080, China; less
Received: 2020-08-26
Accepted: 2021-12-23
Available online: 2021-12-23
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Abstract
is important in a six-degree-of-freedom but only a few studies have focused on this topic. Roll-pitch-yaw angles, widely used in aviation, navigation, and robotics, are now being brought to the field of multi-degree-of-freedom interferometric measurement. However, the roll-pitch-yaw angles are not the exact definitions the metrologists expected in interferometry, because they require a certain sequential order of rotations and may cause errors in describing complicated rotations. The errors increase as the tip and tilt angles of the grating increase. Therefore, a replacement based on fused angles in robotics is proposed and named “.” The are error-free, so they are more in line with the definitions in grating interferometry and more suitable for s. have already been used in research on the kinematic model and decoupling algorithm of the six-degree-of-freedom .
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