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HANDHELD PLATFORM STABILIZATION SYSTEM EMPLOYING DISTRIBUTED ROTATION SENSORS

  • US 20070050139A1
  • Filed: 04/22/2006
  • Published: 03/01/2007
  • Est. Priority Date: 04/27/2005
  • Status: Active Grant
First Claim
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1. A stabilization system comprising:

  • a platform having a mass centroid;

    a base having an orientation;

    a first gimbal frame;

    a first pivot assembly disposed to rotatably couple the first gimbal frame to the base on a first rotation axis, including an actuator disposed to torque the first gimbal frame about the first rotation axis responsive to a first motor signal, and a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the first rotation axis and producing a first sensor signal representing motion of the first gimbal frame about the first rotation axis;

    a second gimbal frame;

    a second pivot assembly disposed to rotatably couple the second gimbal frame to the first gimbal frame on a second rotation axis, including an actuator disposed to torque the second gimbal frame about the second rotation axis responsive to a second motor signal, and a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the second rotation axis and producing a second sensor signal representing motion of the second gimbal frame about the second rotation axis;

    coupling means for coupling the second gimbal frame to the platform such that the platform has an angular position with respect to each rotation axis; and

    a controller including input means for accepting the sensor signals, and output means for producing each motor signal responsive to the respective sensor signal, whereby the corresponding platform angular position is stabilized to a predetermined value independent of changes in the base orientation.

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