Abstract
On Experimental Advanced Superconducting Tokamak (EAST) several visible optical diagnostics are utilized to measure the operation parameters of the plasma, in order to obtain the high performance and steady-state of the plasma profile. The light beam spatial orientation of these optical diagnostics needs to be calibrated before plasma experiment. The calibration process is carried out manually in past, which is quite tedious and exhausting especially in a narrow and harsh environment inside vacuum vessel. To improve this situation, an automatic calibration process based on a robot-camera system is proposed. A dedicated camera system is mounted at the end of a 6-DOF robot arm, to track and calculate the beam orientation and a via point. Both a simulation and a physical test platform were built to verify the performance of the proposed beam orientation process, and the results show a good accuracy of the beam orientation error within 0.5 degree.
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