Dynamic analysis of 8-joint Gimbal system executing 4 DOF motion

A 4 DOF IR/EO Gimbal system is used for surveillance and navigation of UAV´s. The purpose of this paper is to present a dynamical model for the gimbal, emphasizing on the significance of camera offset in case of short distances between end effector and the moving target. Two facets of this article are kinematics and the derivation of equation of motion. The proposed dynamical model can defy not only the mechanical constraints but also the damping flexibility and camera offset relative to moving target.