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

摘要

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.