Session
Technical Session III: Advanced Sensor Concepts
Abstract
Moog, Inc., Schaeffer Magnetics Division, is currently developing a miniature pan/tilt mechanism called the Orbital Pointing Servo (OPS). This device is designed to point a small camera or sensor anywhere within a +/-45-degree optical cone at slew rates of up to 1100 degrees/second. Most pan/tilt mechanisms involve a motion-on-motion design, in which one motor controls one axis of motion while a second larger motor moves the first motor along with the payload in the other axis. The OPS is inherently more efficient in size, weight, speed, and power because the payload is mounted on a true ring-in-ring gimbal and controlled in both axes simultaneously by a single integrated mechanism. While the OPS can be operated open loop, specially designed position sensors integrated directly into the gimbal itself provide position feedback for closed loop control. Aside from generally improving performance beyond the open loop characteristics, closed loop operation would allow the OPS to be used autonomously as part of a self-reliant vision system, or could reject vibrations and disturbances on a mobile robot to stabilize the image. The OPS could also be used to point a mirror for beam steering, small thrusters for thrust vector control, or various types of sensors.
The Orbital Pointing Servo: A Miniature Pan/Tilt Mechanism
Moog, Inc., Schaeffer Magnetics Division, is currently developing a miniature pan/tilt mechanism called the Orbital Pointing Servo (OPS). This device is designed to point a small camera or sensor anywhere within a +/-45-degree optical cone at slew rates of up to 1100 degrees/second. Most pan/tilt mechanisms involve a motion-on-motion design, in which one motor controls one axis of motion while a second larger motor moves the first motor along with the payload in the other axis. The OPS is inherently more efficient in size, weight, speed, and power because the payload is mounted on a true ring-in-ring gimbal and controlled in both axes simultaneously by a single integrated mechanism. While the OPS can be operated open loop, specially designed position sensors integrated directly into the gimbal itself provide position feedback for closed loop control. Aside from generally improving performance beyond the open loop characteristics, closed loop operation would allow the OPS to be used autonomously as part of a self-reliant vision system, or could reject vibrations and disturbances on a mobile robot to stabilize the image. The OPS could also be used to point a mirror for beam steering, small thrusters for thrust vector control, or various types of sensors.
