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Patent A method of simulating 3-degrees of freedom spacecraft rotational dynamics is provided that includes attaching a payload, using a spherical air bearing, to an inner gimbal of a 3-axis gimbal, where the 3-axis gimbal includes an outer gimbal, a mid-gimbal and the inner gimbal, using a motion controller to control motion of each the gimbal of the 3-axis gimbal, where the motion controller includes an appropriately programmed computer and a motion control motor, sensing limits of free travel of the spherical air bearing, using a position sensor, and changing a position of the 3-axis gimbal away from the limit of free travel of the spherical air bearing when the spherical air bearing approaches the limit of free travel, wherein the position change effects travel of the spherical bearing to be unbounded by the limit of free travel, wherein 4л steradians spacecraft dynamics of the payload are simulated. |
