At the Synchrotron Light Laboratory, the radiation beam is conditioned by optical elements that must be positioned with high stability and precision.

Many of the optical elements are positioned using granite benches that provide high coupling stiffness to the ground and position control in up to six degrees of freedom, using a set of stepper motors.

The solution of the inverse kinematics was done numerically by the Newton Raphson method.

By employing the property that these systems have small rotation angles, the Jacobian matrix used in this numerical method can be simplified to reduce computational execution time and allow high processing rates.

The kinematics and control of the granite benches are implemented in an Omron Power Brick LV controller, with the kinematics developed in MATLAB and the C-code generated by MATLAB C-Coder.

Reducing the execution time of the kinematics improves the efficient use of the computational resources and allows the real-time clock rate to be increased. 

If you need more details, please contact with us feel free.

Email: granite@nd-cnc.com

Phone/whatsup: 0086 156 2883 0716