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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20060529-31; Saint Petersburg(RU) >OPTICAL PLATFORM STABILIZATION USING THE OMNI-WRIST III ROBOTIC MANIPULATOR
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OPTICAL PLATFORM STABILIZATION USING THE OMNI-WRIST III ROBOTIC MANIPULATOR

机译：使用OMNI-WRIST III机器人进行的光学平台稳定

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The utilization of the benefits of the laser beam as a communications medium is complicated by the inherent strict requirements on agile and accurate steering of the laser beam over a wide angular range. The Pointing, Acquisition, and Tracking (PAT) system is required to compensate for the vibrations applied to the optical platform while the vehicle carrying the optical instrumentation navigates through rough terrain. The degradation of the performance of the communication system is mitigated through the proper application of advanced control laws. A feedforward vibration rejection control system presented in this paper utilizes a set of inertial navigation sensors to measure the optical platform orientation disturbance and calculates the control effort that drives the actuators of the Omni-Wrist III, a novel singularity-free full-hemisphere-range robotic manipulator. The signals from the inertial navigational unit, consisting of a 3-axis gyroscope, 3-axis acceler-ometer, and a 3-axis magnetic sensor, are fused' to form a quaternion representation of the orientation of the optical platform. This paper presents the development of an Extended Kalman filter fusing' the inertial navigation sensor data, the design and implementation of the disturbance rejection control system, as well as the results of the experimental evaluation of its performance in which the system is subjected to vibrations spectra representing the navigation of the Humvee in difficult terrain.
机译：由于固有的严格要求，即在宽的角度范围内对激光束进行灵活而精确的操纵，使得利用激光束作为通信介质的好处变得复杂。当携带光学仪器的车辆在崎terrain不平的地形上行驶时，需要使用指向，采集和跟踪（PAT）系统来补偿施加到光学平台上的振动。通过适当应用高级控制法则，可以减轻通信系统性能的下降。本文提出的前馈振动抑制控制系统利用一组惯性导航传感器来测量光学平台的方向干扰，并计算驱动Omni-Wrist III（一种无奇点的全半球范围）执行器的控制力机器人操纵器。来自由3轴陀螺仪，3轴加速度计和3轴磁传感器组成的惯性导航单元的信号被融合以形成光学平台方向的四元数表示。本文介绍了融合惯性导航传感器数据的扩展卡尔曼滤波器的开发，干扰抑制控制系统的设计和实现，以及在系统受到振动谱影响的情况下对其性能进行实验评估的结果代表悍马在困难地形中的航行。

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