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

Published

March 30, 2025

Author(s)

Benjamin Moser, Joshua Gordon, Andrew J. Petruska

Abstract

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 (TSP) heuristic. This approach is validated using experimental planar measurements collected at the WR62 band using the Large Antenna Positioning System (LAPS) 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 -38.89dB was found between the transformed far-field patterns.

Proceedings Title

19th European Conference on Antennas and Propagation (EuCAP 2025)

Conference Dates

March 30-April 4, 2025

Conference Location

Stockholm, SE

Pub Type

Conferences

Download Paper

Local Download

Keywords

Robotic Antenna Range, Antenna Metrology, Collaborative Motion

Citation

Moser, B. , Gordon, J. and Petruska, A. (2025), Increased Efficiency in Planar Near-Field Scanning Using Combined Multi-Robot Motion, 19th European Conference on Antennas and Propagation (EuCAP 2025), Stockholm, SE, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=958772 (Accessed October 24, 2025)