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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >Omni-Wrist III - a new generation of pointing devices. Part II. Gimbals systems - control
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Omni-Wrist III - a new generation of pointing devices. Part II. Gimbals systems - control

机译：Omni-Wrist III-新一代定点设备。第二部分Gimbals系统-控制

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摘要

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.
机译：Omni-Wrist III机器人操纵器的设计灵感来自人类手腕的运动学原理，它在无奇点范围的整个180 / spl度/半球范围内代表了传统万向架系统的强大替代品。宾汉姆顿大学激光通信研究实验室的研究工作已经建立了精确的数学模型，该模型已用于本文介绍的控制系统的开发中。开发并评估了状态变量控制器和两个线性模型跟随控制器。第三个控制器旨在实现高度耦合系统的完全解耦。通过摩擦补偿证明了控制器的自适应和抗干扰能力。

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