Data for "Increased Efficiency in Planar Near-Field Scanning Using Combined Multi-Robot Motion"

Included here is relevant data to the publication "Increased Efficiency in Planar Near-Field Scanning Using Combined Multi-Robot Motion". Robotic antenna ranges are highly configurable, but traditional pose selection methods do not utilize the collaborative capability presented by these positioners. We present methods to reduce measurement time during planar scanning on robotic antenna ranges with redundant actuation. The inverse kinematics problem is formulated as a general optimization problem to solve for a relative AUT-Probe transform using all controllable joints of the positioning system. A secondary objective is introduced to minimize velocity-weighted joint excursion, and the resultant poses are ordered to minimize motion time using a Travelling Salesman Problem heuristic. This approach is validated using experimental planar measurements collected at the WR62 band using the Large Antenna Positioning System robotic antenna range. Required scan volume was reduced by 49.9% using combined motion. Total scan motion time was reduced by 19.7% and 20.5% for standard and TSP pose ordering, respectively, for the combined motion respect to traditional pose selection. A maximum of pattern difference of -38.9 dB was found between the transformed far-field patterns.