A robotic lighting system for solar illumination simulation

This report details the authors´ development of a computer controlled spotlight with four actuated degrees-of-freedom for pan, tilt, linear movement, and beam focusing. The authors review the mechanical structure, kinematic model, calibration data, and control algorithm. The resultant system enables the spotlight to maintain constant intensity of the illumination of a surface, while changing the incident angle of the light. In this way, the authors effectively simulate the changing illumination experienced in low earth orbit. The simulation system is currently used to test human and computer inspection of orbital platform mockups for the Space Station freedom