Title :
Omni-Wrist III - a new generation of pointing devices. Part II. Gimbals systems - control
Author :
Sofka, J. ; Skormin, V. ; Nikulin, V. ; Nicholson, D.J.
Author_Institution :
Dept. of Electr. & Comput. Eng., SUNY Binghamton, NY, USA
fDate :
4/1/2006 12:00:00 AM
Abstract :
The Omni-Wrist III robotic manipulator, inspired in design by the kinematics of the human wrist, represents, with the full 180° 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.
Keywords :
controllers; manipulator kinematics; pointing systems; Omni-Wrist III; adaptation capability; control systems; disturbance rejection capability; friction compensation; gimbals systems; human wrist kinematics; linear model; mathematical model; pointing devices; robotic manipulator; state variable controller; Communication system control; Control system synthesis; Control systems; Humans; Kinematics; Laser modes; Manipulators; Mathematical model; Robots; Wrist;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
DOI :
10.1109/TAES.2006.1642585