Handheld platform stabilization system employing distributed rotation sensors

A motion simulator system for moving a platform having a mass centroid along a predetermined sequence of positions about one or more rotation axes represented by a sequence of slew signals, the system comprising:

• a base having an orientation;
• a first gimbal frame;
• a first pivot assembly disposed to rotatably couple the first gimbal frame to the base on a first rotation axis, including
• an actuator disposed to torque the first gimbal frame about the first rotation axis responsive to a first motor signal, and
• a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the first rotation axis and producing a first sensor signal representing motion of the first gimbal frame about the first rotation axis;
• a second gimbal frame;
• a second pivot assembly disposed to rotatably couple the second gimbal frame to the first gimbal frame on a second rotation axis, including
• an actuator disposed to torque the second gimbal frame about the second rotation axis responsive to a second motor signal, and
• a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the second rotation axis and producing a second sensor signal representing motion of the second gimbal frame about the second rotation axis;
• coupling means for coupling the second gimbal frame to the platform such that the platform has an angular position with respect to each rotation axis;
• and
• a controller including
• input means for accepting the sensor signals and the slew signals, and
• output means for producing each motor signal responsive to a combination of the respective sensor signal and the slew signals, whereby the platform is moved along the predetermined sequence of motions independent of changes in the base orientation.