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Inverse solutions for a Risley prism scanner with iterative refinement by a forward solution.

Anhu Li, Xinjian Gao, Wansong Sun

|February 3, 2016

Summary

This summary is machine-generated.

This study presents an iterative method to accurately determine Risley prism orientations for precise laser beam steering. This solution enables high-accuracy, real-time tracking for applications like robotic manipulator error measurement.

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Area of Science:

Optics and Photonics
Robotics and Control Systems

Background:

Risley prism scanners offer wide angular scanning and high resolution for laser beam steering.
Existing inverse solutions for Risley prism scanners lack the accuracy and efficiency required for real-time, high-precision tracking.
The inverse problem of determining prism orientations for a target position remains a challenge.

Purpose of the Study:

To develop an accurate and efficient inverse solution for Risley prism scanners.
To enable high-accuracy and real-time laser beam steering for demanding applications.
To implement the developed method for robotic manipulator error measurement.

Main Methods:

An iterative method combining an approximate inverse solution with forward solution refinement was developed.
Two case studies demonstrated the effectiveness of the iterative solution for controlling Risley prism pairs.
A Risley prism scanner was implemented as a trajectory generator for robotic manipulator error measurement.

Main Results:

The iterative method enables quick and accurate laser beam slewing to desired tracking patterns.
The developed inverse solution achieved the target position within nine iterations for a defined error threshold.
Simulations and experiments validated the method's performance in a robotic manipulator error measurement setup.

Conclusions:

The proposed iterative inverse solution effectively addresses the limitations of existing methods for Risley prism scanners.
This approach facilitates precise laser beam steering, crucial for advanced tracking and measurement systems.
The method shows significant potential for applications requiring high-accuracy, real-time beam control, such as in robotics.