30 August 2017 Forward and inverse solutions for Risley prism based on the Denavit-Hartenberg methodology
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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.
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A. Beltran-Gonzalez, G. Garcia-Torales, M. Strojnik, J. L. Flores, 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); doi: 10.1117/12.2276012; https://doi.org/10.1117/12.2276012
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