Mass properties factors in achieving stable imagery from a gimbal mounted camera

Otlowski, Daniel; Wiener, Kurt; Rathbun, Brandon A.

doi:10.1117/12.778245

Cited by 12 publications

(16 citation statements)

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“…Disturbance torques due to base vibration can be caused when there is a mass imbalance of the system. If the center of mass of the camera gimbal system is offset from the rotational axis, a disturbance torque will be caused by external vibration [23]. This disturbance torque can be modeled as a band limited white noise torque added to the motor torque.…”

Section: Vibration Induced Disturbancementioning

confidence: 99%

System Performance of an Inertially Stabilized Gimbal Platform with Friction, Resonance, and Vibration Effects

Jia

Nandikolla

Haggart

et al. 2017

Journal of Nonlinear Dynamics

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The research work evaluates the quality of the sensor to perform measurements and documents its effects on the performance of the system. It also evaluates if this performance changes due to the environments and other system parameters. These environments and parameters include vibration, system friction, structural resonance, and dynamic system input. The analysis is done by modeling a gimbal camera system that requires angular measurements from inertial sensors and gyros for stabilization. Overall, modeling includes models for four different types of gyros, the gimbal camera system, the drive motor, the motor rate control system, and the angle position control system. Models for friction, structural resonance, and vibration are analyzed, respectively. The system is simulated, for an ideal system, and then includes the more realistic environmental and system parameters. These simulations are run with each of the four types of gyros. The performance analysis depicts that for the ideal system; increasing gyro quality provides better system performance. However, when environmental and system parameters are introduced, this is no longer the case. There are even cases when lower quality sensors provide better performance than higher quality sensors.

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Section: Vibration Induced Disturbancementioning

confidence: 99%

System Performance of an Inertially Stabilized Gimbal Platform with Friction, Resonance, and Vibration Effects

Jia

Nandikolla

Haggart

et al. 2017

Journal of Nonlinear Dynamics

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“…To accomplish this by performing mass stabilization it is therefore necessary to measure the payload weight, and to calculate the position of the center of gravity of the payload [2,3]. With this information about the payload, the three-dimensional target position of the counterweight is calculated to perform mass-stabilization.…”

Section: Balancing Principlementioning

confidence: 99%

“…Balance on pitch axis: the offset position 3 of the payload with respect to the platform's vertical axis of symmetry on the x-z plane induces a torque on the passive pitch axis of the passive gimbal due to gravity, resulting in an inclination angle θ of the gimbal about its pitch axis of rotation, as illustrated in Figure 3. The horizontal position of the counterweight is displaced along the x axis with the X Stage to position 4 , which for static balance must satisfy (2). This places the center of gravity of the payloadcounterweight system on the vertical axis of symmetry of the inertially stabilized platform on the x-z plane, as illustrated in Figure 4.…”

Section: Static Balance: Gravitymentioning

confidence: 99%

Two-axis Gimbal with Passive Revolute Joints for Motion Isolation of a Stabilizing Mechanism

Moya

Araki²,

Okada³

et al. 2017

Adv. sci. technol. eng. syst. j.

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Energy efficiency is a salient design consideration for stabilization mechanisms when assembled on a battery-powered vehicle. In this paper we study the implementation of a two-axis gimbal with passive revolute joints for motion isolation of an inertially stabilized platform (ISP) mounted on a host vehicle. The objective is for the ISP to maintain a steady line of sight (LOS) of a payload placed in an arbitrary position on the ISP workspace by performing mass stabilization. The proposed method eliminates the need to operate gimbal motors throughout the operation of the host vehicle, stabilizing the platform LOS by relying on the gimbal passive joints acting as suspension to isolate the ISP from disturbancesimparted by the host vehicle. We describe the principle of operation and a prototype of the proposed stabilizing mechanism is presented.

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“…Neither of the studies [4,5] mentioned above have been simulated. A single degree of freedom (SDOF) gimbal operating in a complex vibration environment has been presented by Daniel in [6]. It has been illustrated how the vibrations excite both static and dynamic unbalance disturbance torques, which can be eliminated by statically and dynamically balancing the gimbal, though it is regarded costly and time consuming [6].…”

Section: Introductionmentioning

confidence: 99%

“…A single degree of freedom (SDOF) gimbal operating in a complex vibration environment has been presented by Daniel in [6]. It has been illustrated how the vibrations excite both static and dynamic unbalance disturbance torques, which can be eliminated by statically and dynamically balancing the gimbal, though it is regarded costly and time consuming [6]. A novel method to measure unbalanced moments in a two axes gimballed seeker has been presented by Yu and Zhao in [7], but this method was inadequate for the better performance of a seeker owing to the limited sensor's own accuracy.…”

Section: Introductionmentioning

confidence: 99%

Research on the Cross-Coupling of a Two Axes Gimbal System with Dynamic Unbalance

Abdo

Vali

Toloei

et al. 2013

International Journal of Advanced Robotic Systems

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The aim of the gimballed stabilization system is to stabilize the sensor's line of sight towards a target by isolating the sensor from the disturbance induced by the operating environment, such as various disturbance torques and body motions. This paper presents a two axes gimbal assembly. The torque relationships are derived considering the angular motion of the base body and the dynamic unbalance. The stabilization loops for the two axes gimbal system are constructed and related to each other with a cross-coupling unit. Next, the overall model is simulated using two approaches and the obtained results are compared to show the correction of the model proposed. Finally, numerous tests are applied to evaluate the model's performance and investigate the effects of torque disturbance considered in this research.

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Mass properties factors in achieving stable imagery from a gimbal mounted camera

Cited by 12 publications

References 0 publications

System Performance of an Inertially Stabilized Gimbal Platform with Friction, Resonance, and Vibration Effects

System Performance of an Inertially Stabilized Gimbal Platform with Friction, Resonance, and Vibration Effects

Two-axis Gimbal with Passive Revolute Joints for Motion Isolation of a Stabilizing Mechanism

Research on the Cross-Coupling of a Two Axes Gimbal System with Dynamic Unbalance

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