The application of collision detection software development kit at TPS 39A2 nanoARPES beamline

Abstract

At TPS 39A2 nanoARPES end station, the small space occupied by focusing devices such as the zone plate, Order Sorting Aperture (OSA), and detectors at the synchrotron end station makes collisions highly probable during adjustment or scanning. To address this issue, we developed a mechanical model using Solidworks to calculate the shortest distances among different objects after movement. Our approach utilizes a self-developed Software Development Kit (SDK) that can load an object description file to describe the spatial location and movement relation among triangle meshes. While the SDK can only calculate distance in static conditions and does not account for moving objects with speed or acceleration, we separated the program code and mechanical structure to ensure code portability. The collision.c and collision.h files are written in pure ANSI C code, and changes to the spatial or motion relation can be made by modifying the description file. The program was developed using National Instruments LabWindows/CVI and uses OpenGL to provide a visual and intuitive representation of the spatial relation between objects.