Problem:

• In order to save weight, the team elected to design the rover’s vision system to operate without the need for suspension

• This approach introduced a need for a gimbal system in order to normalize the frame of reference of our LiDAR data

Challenges:

• Designing a 2-axis gimbal (pitch, roll) without any cantilevered axes

• Producing a PID controller that consistently performed within our desired margin of error

Results:

• Designed, prototyped, and programmed a unique gimbal design that fulfilled the subsystem requirements

• Packaged electronics and control sensors into a single standalone unit allowing for parallel develop and easy removal from full rover assembly