Console device

A console device comprising:

• a grip;
• a gimbal that rotatably supports the grip around a yaw axis, a pitch axis, and a roll axis, and that includes a first joint that rotates about the yaw axis, a second joint that rotates around the pitch axis, and a third joint that rotates around the roll axis, the yaw axis, the pitch axis, and the roll axis intersecting each other;
• and
• a controller that controls the gimbal,
• wherein the gimbal includes:
• first harness windings that are wound around the first joint, second harness windings that are wound around the second joint, and third harness windings that are wound around the third joint;
• a first driver corresponding to the first joint, a second driver corresponding to the second joint, and a third driver corresponding to the third joint;
• and
• a first angle sensor that detect a first angle of the first joint, a second angle sensor that detect a second angle of the second joint, a third angle sensor that detect a third angle of the third joint, and
• wherein the controller controls the first driver to apply a first compensation torque to the first joint to compensate for a torsional torque based on first angles sensed by the first angle sensor, controls the second driver to apply a second compensation torque to the second joint to compensate for a torsional torque based on second angles sensed by the second angle sensor, and controls the third driver to apply a third compensation torque to the third joint to compensate for a torsional torque based on third angles sensed by the third angle sensor.