Photoelectric Tracking System for Multilegged Robot Using Hybrid Linkage-FSM Stabilization

Abstract

This paper presents a linkage based photoelectric tracking and pointing platform integrated on a multilegged robotic base for high precision mobile laser alignment. The system uses a two-stage control architecture combining a coarse mechanical linkage for large angle orientation and a fast-steering mirror RC241179 for micro angular correction. Real time sensor fusion is implemented on an NVIDIA Jetson Orin 8 GB module to combine measurements from a VEYE-MV-SC130M CMOS (Complementary Metal-Oxide-Semiconductor) camera, an LR6000 laser rangefinder, onboard IMU and joint encoders. A hierarchical dual loop control scheme is adopted, with a PID linkage loop at 100 Hz for coarse pointing and a high-speed PD mirror loop at 200-400 Hz for fine correction. Experimental validation shows static pointing precision of 0.21 mrad, dynamic root mean square (RMS) pointing error of 0.56 mrad during locomotion, mean tracking delay of 42 ms, and effective disturbance rejection up to 30 Hz. Continuous operation under a 2-kW laser load for 40 minutes produced no beam drift greater than 0.05 mrad and component temperatures within operational limits. These results demonstrate that the proposed integrated design provides compact, thermally stable, and sub milliradian pointing performance suitable for mobile photoelectric tasks such as mapping, inspection and surveillance.