Gimbal system with imbalance compensation

摘要

A gimbal assembly may include an imbalance compensation system having a driver operatively connected to a movable weight. A controller may determine a compensating position for the movable weight to counterbalance an effective moment imparted on the gimbal assembly by one or more movable components therein. The controller may command the driver to relocate the movable weight to the compensating position.

主权项

1. A gimbal system, comprising:
a support portion; a gimbal assembly pivotably connected to and supported by the support portion; and a payload pivotably orientable with respect to the support portion by the gimbal assembly, to provide pan and tilt movement of the payload, the payload including a selectively positionable component such that repositioning of the component has an effect on a center of gravity (CG) of the gimbal assembly, an imbalance compensator having a movable weight operatively connected to a driver configured to move the weight independent of the positionable component, and a controller in operative communication with the imbalance compensator; wherein the controller is configured to counteract the effect of the positionable component on the CG by causing the imbalance compensator to reposition the movable weight; and wherein the positionable component and the movable weight are internal to the payload.