Visuo-haptic augmented reality systems enable users to see and touch digital information that is embedded in the real world. Precise colocation of computer graphics and the haptic stylus is necessary to provide a realistic user experience. PHANToM haptic devices are often used in such systems to provide haptic feedback. They consist of two interlinked joints, whose angles define the position of...

Control-moment gyroscopes (CMGs) are power-efficient attitude-control actuators that produce high torques on spacecraft. In this study, a method is investigated for maneuvering robotic arm segments in a spacecraft-mounted, CMG-actuated agile imaging payload with minimal power usage. A real-time optimization method is presented that includes null motion in a closed-loop end-effector tracking pro...

In impulsive orbital maneuvers, a large disturbance torque is generated by the thrust vector misalignment from the center of mass (C.M). The purpose of this paper is to reject the mentioned disturbance and stabilize the spacecraft attitude, based on the combination of a one degree of freedom (1DoF) gimbaled-thruster, two reaction wheels (RWs) and spin-stabilization. In this paper, the disturban...

The increasing demand for target tracking, environmental surveys, surveillance and mapping requires multi-axis gimbal systems with high tracking stabilization performance. In this study, a new torque estimation structure is proposed to compute the complex disturbances negatively affecting performance of system. Two different control strategies based on Active Disturbance Rejection Control (ADRC...

Feedback controllers for the stabilization of the angular velocity vector of a rigid spacecraft using a single-gimbal Variable Speed Control Moment Gyro (VSCMG) are presented. Linearization of the equations of motion show that complete attitude stabilization is not possible via linear methods. Nonetheless, it is shown that the linearized angular velocity equations are controllable, and a simple...

Machine tools with gimbal heads continuously rotate and/or pivot their spindle heads to maintain the required relationship between the tool and the surface being cut. This results in orientation-dependent dynamic behavior at the tool-center-point, which further results in orientation-dependent machining stability of the system, potentially limiting productivity during continuous cutting. A dyna...

A laser-scanning rangefinder mounted on a gimbal with two degrees of freedom is presented. The can be used as part navigation system an unmanned aerial vehicle to avoid obstacles or prevent collisions. Compared stereo cameras, the device requires significantly less computing resources and dependent lighting conditions. integrated lidars, cost by order lower. А model was developed obstacle avoid...

Sliding Sector Control (SSC) design method for nonlinear systems is proposed in such a way that the system trajectories are kept around sliding surface which surrounded by sector. The SSC derived so enforced to stay inside sector tracking requirements. State-Dependent Differential Riccati Equations (SDDRE) solved dynamical system. Within this context, having nonlinear(or state-dependent) surfac...

An initial startupmethod for a spacecraft actuated by a pyramidal arrangement of variable-speed controlmoment gyroscopes is developed. The method provides closed-loop internal momentum tracking control to enable the flywheels to start from rest and reach desired wheel speeds. The proposed controller functioning as a variable-speed control moment gyroscope steering law is developed in terms of t...