2023/12/05 by Alexandre Lê, Le, Alexandre, Guillaume Rance +5
Computer Science · Engineering · #Aerospace Engineering and Control Systems #Digital Image Processing Techniques #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2312.02641
openalex publication_date 2023/12/05 · openalex created_date 2023/12/07 · openalex updated_date 2026/07/28
This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three Degrees of Freedom (DOF) in orientation and is studied from the kinematic point of view. In particular, one guarantees that the singular loci (with the resulting numerical instabilities and inappropriate behavior of the mechanism) are far away from the prescribed workspace. Once the kinematics of the device is certified, a control strategy needs to be implemented in order to stabilize the LOS through the upper platform of the mechanism. Such a work is done with MATLAB Simulink using a SimMechanics model of our robot.