Patent ID: 9156168
Filing Date: 2015-10-13
Classification: B25J,G02B,Y10S

Abstract:
1. A computer-implemented method for actively aligning a first optical element to a second optical element, the method comprising performing, by a processor, operations of: causing a robot to continuously scan the first optical element along a trajectory from a starting location to an ending location; while the robot continuously scans the first optical element from the starting location to the ending location: estimating a first relationship between (a) position of the first optical element and (b) time, based on the plurality of time spaced-apart positions of the first optical element and the respective acquisition time of each position; estimating a plurality of positions of the first optical element corresponding to times when respective ones of the time-spaced apart alignment data items were acquired, using times at which the time spaced-apart alignment data items were acquired and the first relationship; estimating a second relationship between (a) degree of optical alignment between the first optical element and the second optical element and (b) position of the first optical element, based on the plurality of time spaced-apart alignment data items and the plurality of positions of the first optical element; estimating a desired alignment position, based at least in part on the plurality of time spaced-apart alignment data items and the plurality of time spaced-apart positions of the first optical element, wherein estimating the desired alignment position comprises estimating the desired alignment position based on the second relationship; and causing the robot to move the first optical element to the desired alignment position.