The Omni-Wrist III robotic manipulator, inspired in design by the kinematics of the human wrist, represents, with the full 180/spl deg/ hemisphere of singularity-free range, a very capable alternative to traditional gimbals systems. Research efforts at the Laser Communications Research Laboratory at Binghamton University have resulted in the establishment of an accurate mathematical model, which was utilized in the development of control systems presented in this paper. A state variable controller and two linear model following controllers are developed and evaluated. The third controller is designed to achieve full decoupling of the highly coupled system. The adaptation and disturbance rejection capabilities of the controllers are demonstrated through friction compensation.
Omni-Wrist III - a new generation of pointing devices. Part II. Gimbals systems - control
IEEE Transactions on Aerospace and Electronic Systems ; 42 , 2 ; 726-734
2006-04-01
2807100 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Omni-Wrist III -- A New Generation of Pointing Devices - Part II - Gimbals Systems -- Control
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