Laboratory Testing, Characterization and Mathematical Modeling of the Moniwrist III by Ross-Hime Designs, Incorporated

Abstract

The Omni-Wrist III gimbal system, developed by Ross-Hime Designs, Inc. has been fully tested in the Laser Research Laboratory of Binghamton University. This emulates the kinematics of the human wrist, allowing a full 180 degree hemisphere of pitch/yaw motion. A complete mathematical model (transfer matrix) was developed, which demonstrated the potential for greatly improved bandwidth and positioning accuracy. It is proposed to enhance the system performance through development of an optimal comptroller extending the conventional state-variable and model reference control laws, with dynamic programming, gain scheduling and fuzzy logic.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2005
Accession Number
ADA443326

Entities

People

  • Victor A. Skormin

Tags

Communities of Interest

  • Materials and Manufacturing Processes
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Acousto-Optic Modulators
  • Air Force
  • Air Force Research Laboratories
  • Amplifiers
  • Artificial Satellites
  • Bandwidth
  • Beam Steering
  • Closed Loop Systems
  • Computer Programming
  • Computers
  • Control Systems
  • Control Systems Engineering
  • Dynamic Programming
  • Fuzzy Logic
  • Mathematical Models
  • Models

Readers

  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • Directed Energy