Omni-Wrist III - a new generation of pointing devices. Part I. Laser beam steering devices - mathematical modeling

Author

Sofka, J. ; Skormin, V. ; Nikulin, V. ; Nicholson, D.J.

Author_Institution

Dept. of Electr. & Comput. Eng., SUNY Binghamton, NY, USA

Volume

42

Issue

2

fYear

2006

fDate

4/1/2006 12:00:00 AM

Firstpage

718

Lastpage

725

Abstract

Omni-Wrist III is a new sensor mount developed with U.S. Air Force funding that emulates the kinematics of a human wrist. Driven by two linear motors and computer controlled, it is capable of a full 180° hemisphere of pitch/yaw motion. A comprehensive laboratory testing of one of the few existing devices of this type, installed in the Laser Communications Research Laboratory at Binghamton University, has resulted in the establishment of a complete mathematical model relating pitch/yaw coordinates of the sensor mount to the motor encoder signals. This paper presents the development of the model that incorporates inverse and forward pose kinematics solutions as well as the dynamics of the novel gimbal-like pointing system.

Keywords

kinematics; laser beams; mathematical analysis; mountings; pointing systems; steering systems; Omni-Wrist III; comprehensive laboratory testing; computer controlled; gimbal like pointing system; human wrist kinematics; laser beam steering devices; linear motors; mathematical modeling; motor encoder signals; pitch/yaw motion; pointing devices; sensor mount; Beam steering; Communication system control; Force sensors; Humans; Kinematics; Laser modes; Mathematical model; Military computing; Motion control; Wrist;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/TAES.2006.1642584

Filename

1642584