Patent US 4,949,026

As a gyroscope is made to precess back and forth across a certain point; a servo, torquing about the axis causing precession, can stabilize the member containing the precession axis by maintaining the gyroscope at that point. In the subject invention, a signal generator measuring gyro movement on the precession axis, energizes the servo at the hinge between the member and its support toward the base and thus stabilizes said member against accidental oscillation of said support. After adding to the precession axis a velocity sensitive means for restraining gyro motion along with means for displacing the signal generator null, the servo will torque, and henceforth stabilize, the member to a new attitude signified by the angular displacement of the null. Momentum of the gyro wheel remembers its position in space and will return the member to its original null. In this manner, up to three orthogonally servoed robot arms may be space stabilized with attitude changes commanded remotely.