In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point (so-called Gimbal Lock). However, quaternion interpolation has the advantage of natural (specifically smooth) orientation interpolation without Gimbal Lock. This paper presents the application of quaternion interpolation, specifically Spherical Linear IntER...

A common challenge in developing small-satellite-based Earth-observation (EO) missions is getting the data to the ground. Typically, most satellites download data via space-to-ground radio-frequency (RF) links, communicating directly with fixed ground stations as the satellites fly within range. For many next-generation EO missions, such as hyperspectral imaging or SAR missions, the volume of d...

Integrating the advantage of magnetic bearings with a double gimble control moment gyroscope (DGCMG), a magnetically suspended DGCMG (MSDGCMG) is an ideal actuator in high-precision, long life, and rapid maneuver attitude control systems. The work presented here mainly focuses on performance testing of a MSDGCMG independently developed by Beihang University, based on the single axis air bearing...

GyroWheel is an innovative device that combines the actuating capabilities of a control moment gyro with the rate sensing capabilities of a tuned rotor gyro by using a spinning flex-gimbal system. However, in the process of the ground test, the existence of aerodynamic disturbance is inevitable, which hinders the improvement of the specification performance and control accuracy. A vacuum tank t...

An adaptive Dynamic Surface Controller (DSC) is designed for a two-axis gimbal system with actuator dynamics in the presence of parametric uncertainties [1]. A Lyapunov stability analysis used to guarantee convergence tracking error origin and boundedness all closed-loop signals. The main objective this corrigendum point out several errors that occurred throughout paper, resulting inaccuracy dy...

In this paper, a methodology for self-calibrating a multi-beam laser tracking measurement system with planar constraints is proposed. A model for the multiple-beam laser tracking system is derived. Through error analysis it is shown that using even rough angular measurement of the gimbal joint positions may improve the overall system calibration results. Parameter observability issues are studi...