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.

在实验性先进超导托卡马克 (EAST) 上，使用几种可见光诊断来测量等离子体的运行参数，以获得等离子体轮廓的高性能和稳态。这些光学诊断的光束空间方向需要在等离子体实验之前进行校准。以往的校准过程都是手工进行的，特别是在真空容器内狭窄而恶劣的环境中，非常繁琐和费力。为了改善这种情况，提出了一种基于机器人相机系统的自动校准过程。专用摄像头系统安装在 6 自由度机器人手臂的末端，用于跟踪和计算光束方向和通过点。