Forward and inverse solutions for Risley prism based on the Denavit-Hartenberg methodology

A. Beltran-Gonzalez; G. Garcia-Torales; M. Strojnik; J. L. Flores; J. L. Garcia-Luna

doi:10.1117/12.2276012

30 August 2017 Forward and inverse solutions for Risley prism based on the Denavit-Hartenberg methodology

A. Beltran-Gonzalez, G. Garcia-Torales, M. Strojnik, J. L. Flores, J. L. Garcia-Luna

Proceedings Volume 10403, Infrared Remote Sensing and Instrumentation XXV; 1040311 (2017) https://doi.org/10.1117/12.2276012
Event: SPIE Optical Engineering + Applications, 2017, San Diego, California, United States

Abstract

In this work forward and inverse solutions for two-element Risley prism for pointing and scanning beam systems are developed. A more efficient and faster algorithm is proposed to make an analogy of the Risley prism system compared with a robotic system with two degrees of freedom. This system of equations controls each Risley prism individually as a planar manipulator arm of two links. In order to evaluate the algorithm we implement it in a pointing system. We perform popular routines such as the linear, spiral and loops traces. Using forward and inverse solutions for two-element Risley prism it is also possible to point at coordinates specified by the user, provided they are within the pointer area of work area. Experimental results are showed as a validation of our proposal.

Citation Download Citation

A. Beltran-Gonzalez, G. Garcia-Torales, M. Strojnik, J. L. Flores, and J. L. Garcia-Luna "Forward and inverse solutions for Risley prism based on the Denavit-Hartenberg methodology", Proc. SPIE 10403, Infrared Remote Sensing and Instrumentation XXV, 1040311 (30 August 2017); https://doi.org/10.1117/12.2276012

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available