Abstract: Augmented reality display systems, apparatuses, and methods are disclosed for enabling a wearer of an augmented reality optical display to continue wearing the same optical display while moving between different platforms or vehicles. Example embodiments include optical displays that use a wired connection to connect with each platform to minimize the electromagnetic signature of the system. Embodiments include changing the information displayed to the user depending on the type of vehicle to which the optical display is connected. Additional embodiment display information about weapon systems associated with the platform to which the optical display is connected.

Abstract: An unmanned turret having a turret ring gear and first and second electrical force-producing devices with the unmanned turret being rotatably mounted to a vehicle chassis, the turret drive mechanism including at least one ring gear independent of the turret ring gear, at least one manually-operable input component rotatably coupled to the at least one ring gear, the at least one input component accessible within the vehicle chassis, and at least one output component mechanically coupled to at least one of the first and second electrical force-producing devices of the unmanned turret to cause rotation of the at least one of the first and second electrical force-producing device. Another turret drive mechanism and an unmanned turret are also disclosed.

Abstract: A semiconductor device includes a semiconductor substrate having a first region and a second region. The first region includes a first set of fin structures, the first set of fin structures comprising a first set of epitaxial anti-punch-through features of a first conductivity type. The first region further includes a first set of transistors formed over the first set of fin structures. The second region includes a second set of fin structures, the second set of fin structures comprising a second set of epitaxial anti-punch-through features of a second conductivity type opposite to the first conductivity type. The second region further includes a second set of transistors formed over the second set of fin structures. The first set of epitaxial anti-punch-through features and the second set of epitaxial anti-punch-through features are substantially co-planar.

Abstract: A damage detection and remediation system includes a sensing device for detecting damage events related to a structure of interest. Such damage events may include impact from a ballistic object, a tamper event, a physical impact, or other events that may affect structural integrity or cause failure. Illustratively, the sensing device is in communication with a measurement system to determine damage criteria, and a processing system which is configured to use the damage criteria to determine, for example, a direction of the initiation point of a ballistic causing the damage event.

Abstract: A customizable apparatus for controlling rotational movement of a turret of a vehicle is provided. The apparatus includes a memory that stores information relating to operation of the turret. A communication port of the apparatus is adapted to exchange communications relating to operation of the turret with an external computing device. A controller processes communications received at the communication port from the external computing device. The controller processes the communications, and the controller selectively provides access to the stored information relating to operation of the turret to the external computing device.

Abstract: Methods are disclosed for controlling a turret assembly with two or more gimbaled, swivel assembly sub-systems, such as a gimbaled gun and a gimbaled electro-optical sensor. The turret can be automatically slewed in response to one of the swivel assemblies rotating. A user can switch turret modes reflecting a priority between the gimbaled sub-systems system so that one takes priority over the other(s) during a mission.

Abstract: An apparatus for mounting an electronics unit, such as a digital pointing device, to a mortar bipod may include a pair of spaced-apart, generally parallel mounting brackets having respective inner faces. A pair of support rails may be fixed to opposite outer edges of the mounting brackets. A pair of support rods may be fixed between opposite lower portions of the mounting brackets. A lower guide rod housing may be fixed to first ends of the support rails. A pair of fire control guide rods may have first ends fixed to the lower guide rod housing. A plurality of shock mounts may have respective bases and tops. The shock mount bases may be fixed to the respective inner faces of the mounting brackets. The electronics unit may include a top plate fixed thereto. A pair of side plates may be fixed to the top plate. The side plates may extend generally perpendicularly from the top plate. The tops of the shock mounts may be fixed to the side plates.

Abstract: A control mechanism securable to a firing device is provided. The control mechanism includes an actuation component adapted to generate signals in response to activation of the actuation component. Further, the control mechanism includes an attachment apparatus adapted to support the actuation component adjacent to a stock of the firing device. The attachment apparatus has at least one securing member for securement of the attachment apparatus to the stock of the firing device.

Abstract: In certain embodiments, a weapon station comprises a weapon mounting apparatus and a sight mounting apparatus. The weapon mounting apparatus is adapted to rotate, using a first rotational drive mechanism, about an azimuth axis. The weapon mounting apparatus is adapted to receive one or more weapons for attachment at a position offset from the azimuth axis. The sight mounting apparatus is coupled to the weapon mounting apparatus and is adapted to receive for attachment a sighting device. The sighting device comprises one or more sensors and is adapted to rotate, using a second rotational drive mechanism, the one or more sensors about the azimuth axis independently of rotational movement of the weapon mounting apparatus about the azimuth axis. The azimuth axis about which the weapon mounting apparatus and the one or more sensors rotate is a common azimuth axis.

Abstract: A weapons system includes a frame having an axis. A targeting assembly is arranged and operational to move rotationally the frame axis. The targeting assembly includes a weapon. A user interface is attached to the weapon and is operable actuate movement of the targeting assembly about the axis.

Abstract: An apparatus for controlling rotational movement of a turret of a vehicle is provided. The apparatus includes a controller that generates a control signal for controlled operation of the turret in a controlled mode of operation. In response to a determination that a manual mode of operation has been initiated, the controller disables controlled operation of the turret of the vehicle.

Abstract: A multi-weapons system comprising: an active defense system (ADS) comprising a mortar launch tube mounted on a support base-plate rotatable 360 degrees; a weapons system comprising a machine gun mounted alongside the active defense system (ADS) on the support base, a motor with mechanism to rotate the support base-plate with the active defense system (ADS) 360 degrees, drive means to adjust the power capacity of the motor between that required for the active defense system and that required for the machine gun, control means to rotate and adjust the elevation of the launch tube and adjust the directional movement of the machine gun, computer and electronic means to automatically rotate and fire the active defense system display and control means to manually operate the machine gun, control means to override the manual operation of the machine gun and prevent its firing when the active defense system is automatically activated.

Abstract: In methods and apparatuses, a weapon includes a trigger module for sensing trigger input from a shooter and generating a trigger signal, and a firing module for controlling firing of a projectile responsive to a fire control signal. The weapon also includes an image sensor configured for mounting on the weapon and sensing a series of images over a time period of interest while the trigger signal is in a motion-estimation state. A controller is configured for determining when to fire the weapon by receiving the images from the image sensor and generating a motion-estimation history over the time period of interest responsive to changes in the images. The controller is also configured for determining a centroid of the motion-estimation history and asserting the fire control signal when the trigger signal is in a fire-enable state and a current image is within an offset threshold from the centroid.

Abstract: A handling system is for a weapon (2) placed on a turret. The weapon is provided with a barrel (21) from which the bullets are shot and with a handle (22) through which the operator determines the traverse of the weapon. The weapon is mounted on a circumferential fifth wheel including a fixed portion (31) integral with the turret and a movable portion (32) on which the weapon is mounted, in order that the movable fifth wheel rotates on the fixed one, permitting the movement of the weapon along the circumference (C).

Abstract: The technology disclosed herein can include a motor unit having a motor with a motor gear to rotate a drive shaft and a drive gear. A manual input shaft can also be configured to transmit rotation to the drive shaft. The motor can have a central axis that forms an angle of less than 90 degrees with a plane substantially defined by an outer surface of a gear box coupled to the motor. A mounting bracket is configured to allow mechanical communication between the motor unit and an internal ring gear. The internal ring gear can be mounted to a vehicle and a turret can be pivotably disposed within the internal ring gear. A motor unit is mounted on the turret and a drive gear is rotatably mounted on the motor unit and in direct engagement with the internal ring gear.

Abstract: This is directed to systems, processes, machines, and other means that allow a pan/tilt gun mount to be radio controlled by a plurality of frequencies. The invention can rapidly rotate and adjust elevation to aim a gun mount as directed by a user.

Abstract: The method serves for adjusting a positioning of a longitudinal axis of a weapon barrel. An adjusting angle of the weapon barrel is changeable by at least one adjusting element. The weapon barrel is arranged so as to be movable relative to a weapon support in the direction of the longitudinal axis. A positioning of the weapon barrel relative to the weapon support is determined by measurement technology. The measurement values obtained as a result are supplied to a control device. The control device acts on the adjusting element in accordance with a predetermined functional relationship between the obtained measurement values and an input value for the adjusting element. The device for firing shell s is constructed for use of the respective method.

Abstract: The technology herein relates to rotating a second structure, which can be a turret, relative to a first structure, which can be a vehicle. The system can include a motor unit having a motor with a motor gear to rotate a drive shaft and a drive gear. A manual input shaft can also be configured to transmit rotation to the drive shaft. The motor can have a central axis that forms an angle of less than 90 degrees with a plane substantially defined by an outer surface of a gear box coupled to the motor. A mounting bracket is configured to allow mechanical communication between the motor unit and an internal ring gear. The mounting bracket has a mounting frame defining at least a first slide channel. A first motor unit coupler has a slide flange that is slidably received by the mounting frame and receives a motor unit. The internal ring gear can be mounted to a vehicle and a turret can be pivotably disposed within the internal ring gear.

Abstract: A firearm mount including a base that supports a movable cradle within which is positioned a firearm. Remotely controlled motors turn the cradle about horizontal and vertical axes. Remote operation of the motors is enhanced by a video camera secured to the firearm and connected to a transmitter that broadcasts an electronic video signal to the user stationed away from the mount. The trigger of the firearm in the cradle is moved to fire by a remotely controlled solenoid.

Abstract: A handling system is for a weapon (2) placed on a turret. The weapon is provided with a barrel (21) from which the bullets are shot and with a handle (22) through which the operator determines the traverse of the weapon. The weapon is mounted on a circumferential fifth wheel including a fixed portion (31) integral with the turret and a movable portion (32) on which the weapon is mounted, in order that the movable fifth wheel rotates on the fixed one, permitting the movement of the weapon along the circumference (C).

Abstract: This invention, as a unit, is a training adjustable combination sight, primarily intended to be mounted on a vehicle of smaller vessel for close-in defense of these against air and ground attacks. In its entirety, aside from the required sight sensors (16-18) situated in an intentionally elevatable sensor housing (4), the combination sight entails a weapon (8) that is controlled by the sensors. The sight sensors (16-18) included in the combination sight can also be utilized for fire control of exterior weapons located elsewhere as well as for gathering purely surveillance data.

Abstract: A firearm mount including a base that supports a movable cradle within which is positioned a firearm. Remotely controlled motors turn the cradle about horizontal and vertical axes. Remote operation of the motors is enhanced by a video camera secured to the firearm and connected to a transmitter that broadcasts an electronic video signal to the user stationed away from the mount. The trigger of the firearm in the cradle is moved to fire by a remotely controlled solenoid.

Abstract: An apparatus for controlling rotational movement of a turret of a vehicle is provided. The apparatus includes a controller that generates a control signal for controlled operation of the turret in a controlled mode of operation. In response to a determination that a manual mode of operation has been initiated, the controller disables controlled operation of the turret of the vehicle.

Abstract: This is directed to systems, processes, machines, and other means that allow a pan/tilt gun mount to be radio controlled by a plurality of frequencies. The invention can rapidly rotate and adjust elevation to aim a gun mount as directed by a user.

Abstract: A control mechanism securable to a firing device is provided. The control mechanism includes an actuation component adapted to generate signals in response to activation of the actuation component. Further, the control mechanism includes an attachment apparatus adapted to support the actuation component adjacent to a stock of the firing device. The attachment apparatus has at least one securing member for securement of the attachment apparatus to the stock of the firing device.

Abstract: In methods and apparatuses, a weapon includes a trigger module for sensing trigger input from a shooter and generating a trigger signal, and a firing module for controlling firing of a projectile responsive to a fire control signal. The weapon also includes an image sensor configured for mounting on the weapon and sensing a series of images over a time period of interest while the trigger signal is in a motion-estimation state. A controller is configured for determining when to fire the weapon by receiving the images from the image sensor and generating a motion estimation history over the time period of interest responsive to changes in the images. The controller is also configured for determining a centroid of the motion estimation history and asserting the fire control signal when the trigger signal is in a fire-enable state and a current image is within an offset threshold from the centroid.

Abstract: The invention relates to weapon mount systems that can be locked into a particular position. In an embodiment, the invention includes a weapon mount including a base structure; a mounting structure pivotably coupled to the base structure; a weapon cradle pivotably coupled to the mounting structure, the weapon cradle configured to hold a weapon. The weapon mount also includes a first locking mechanism configured to restrict pivoting of the weapon cradle relative to the mounting structure in a vertical plane, the first locking mechanism comprising a first brake caliper; and a first brake rotor, wherein the first brake caliper selectively engages the first brake rotor. The weapon mount also includes a second locking mechanism configured to restrict pivoting of the mounting structure relative to the base structure in a horizontal plane, the second locking mechanism comprising a second brake caliper; and a second brake rotor, wherein the second brake caliper selectively engages the second brake rotor.

Abstract: In certain embodiments, a weapon station comprises a weapon mounting apparatus and a sight mounting apparatus. The weapon mounting apparatus is adapted to rotate, using a first rotational drive mechanism, about an azimuth axis. The weapon mounting apparatus is adapted to receive one or more weapons for attachment at a position offset from the azimuth axis. The sight mounting apparatus is coupled to the weapon mounting apparatus and is adapted to receive for attachment a sighting device. The sighting device comprises one or more sensors and is adapted to rotate, using a second rotational drive mechanism, the one or more sensors about the azimuth axis independently of rotational movement of the weapon mounting apparatus about the azimuth axis. The azimuth axis about which the weapon mounting apparatus and the one or more sensors rotate is a common azimuth axis.

Abstract: The method serves for adjusting a positioning of a longitudinal axis of a weapon barrel. An adjusting angle of the weapon barrel is changeable by at least one adjusting element. The weapon barrel is arranged so as to be movable relative to a weapon support in the direction of the longitudinal axis. A positioning of the weapon barrel relative to the weapon support is determined by measurement technology. The measurement values obtained as a result are supplied to a control device. The control device acts on the adjusting element in accordance with a predetermined functional relationship between the obtained measurement values and an input value for the adjusting element. The device for firing shell s is constructed for use of the respective method.

Abstract: A weapons system includes a frame having an axis. A targeting assembly is arranged and operational to move rotationally the frame axis. The targeting assembly includes a weapon. A user interface is attached to the weapon and is operable actuate movement of the targeting assembly about the axis.

Abstract: This invention, as a unit, is a training adjustable combination sight, primarily intended to be mounted on a vehicle of smaller vessel for close-in defence of these against air and ground attacks. In its entirety, aside from the required sight sensors (16-18) situated in an intentionally elevatable sensor housing (4), the combination sight entails a weapon (8) that is controlled by the sensors. The sight sensors (16-18) included in the combination sight can also be utilized for fire control of exterior weapons located elsewhere as well as for gathering purely surveillance data.

Abstract: The technology herein relates to rotating a second structure, which can be a turret, relative to a first structure, which can be a vehicle. The system can include a motor unit having a motor with a motor gear to rotate a drive shaft and a drive gear. A manual input shaft can also be configured to transmit rotation to the drive shaft. The motor can have a central axis that forms an angle of less than 90 degrees with a plane substantially defined by an outer surface of a gear box coupled to the motor. A mounting bracket is configured to allow mechanical communication between the motor unit and an internal ring gear. The mounting bracket has a mounting frame defining at least a first slide channel. A first motor unit coupler has a slide flange that is slidably received by the mounting frame and receives a motor unit. The internal ring gear can be mounted to a vehicle and a turret can be pivotably disposed within the internal ring gear.

Abstract: An improved drive mechanism (100) adapted to be mounted on a support for controllably moving a first output shaft (16) about either or both of two orthogonal axes (T, E). The drive mechanism has a stationary lower portion adapted to be mounted on the support and having a movable upper portion mounted for movement relative to the stationary portion. The improved drive mechanism broadly includes: a first power train (10, 12, 2, 4, 14) for controllably rotating a first gear (6); a second power train (9, 11, 1, 3,13) for controllably rotating a second gear (5); and a third gear (7) connected to the first output shaft and meshing with at least one of the first and second gears. The first, second and third gears form a portion of a differential-like mechanism (18) mechanically coupling the first and second power trains to the first output shaft. The first and second power trains may be selectively operated to controllably and cooperatively move the first output shaft to a desired position relative to the support.

Abstract: This invention, as a unit, is a training adjustable combination sight, primarily intended to be mounted on a vehicle of smaller vessel for close-in defense of these against air and ground attacks. In its entirety, aside from the required sight sensors (16-18) situated in an intentionally elevatable sensor housing (4), the combination sight entails a weapon (8) that is controlled by the sensors. The sight sensors (16-18) included in the combination sight can also be utilized for fire control of exterior weapons located elsewhere as well as for gathering purely surveillance data.

Abstract: The present invention relates generally to a weapon having an eccentrically-pivoted barrel (1) that is mounted on a movable base (2), and to a method of elevating and stabilizing such a barrel. A drive mechanism (3) acts between the barrel and the base to permit and enable the elevation of the barrel relative to the base to be selectively changed. A compensation device acts between the barrel and base to compensate for the unbalance of the barrel. The compensation device includes a gyroscope (13) mounted on the barrel and arranged to provide an output signal, a set point generator (12), a closed-loop control device (10) and an actuating element (16). The actual position of the barrel is sensed by the gyroscope, which supplies its output signal to the set point generator. The set point generator produces a set force value as a function of the gyroscope output signal.

Abstract: An electromechanical firearm rest may include a base plate with a front rest attached to the base plate. An electromechanical windage adjustment mechanism and an electromechanical elevation adjustment mechanism may be attached to the front rest or the base plate. A wired or wireless controller may be in communication with both the electromechanical windage adjustment mechanism and the electromechanical elevation adjustment mechanism. Inputs may be made through a joystick. The firearm rest may include one or more interchangeable bag tops for the front and rear rests. The base plate may be one-piece or may include a front plate and a rear plate with a removable center section. The electronic controls may include a variable slew rate to adjust both elevation and windage simultaneously. DC motors or servos may be used to physically move and aim the firearm and manual adjusters may permit quick setup.

Abstract: A device for the remote control of a firearm has a turret head which can be pointed in all directions and is controlled by an azimuth motor. A frame which fixes the firearm is suspended in an upward tilting manner in a pintle of the turret head. A sighting camera is connected to a screen which displays a sighting reticule. A remote control controls the azimuth motor and an elevation motor which controls an elevation of the frame. At least one sensor determines the orientation of either or both the frame and the camera and a ballistic calculator connected to the sensors to calculate and control the super elevation of the frame as a function of the information from the sensors and the distance of the target, such that the camera is driven by the elevation motor, and the frame can be inclined in elevation in relation to the camera.

Abstract: This invention, as a unit, is a training adjustable combination sight, primarily intended to be mounted on a vehicle of smaller vessel for close-in defence of these against air and ground attacks. In its entirety, aside from the required sight sensors (16-18) situated in an intentionally elevatable sensor housing (4), the combination sight entails a weapon (8) that is controlled by the sensors. The sight sensors (16-18) included in the combination sight can also be utilized for fire control of exterior weapons located elsewhere as well as for gathering purely surveillance data.

Abstract: This invention, as a unit, is a training adjustable combination sight, primarily intended to be mounted on a vehicle of smaller vessel for close-in defence of these against air and ground attacks. In its entirety, aside from the required sight sensors (16-18) situated in an intentionally elevatable sensor housing (4), the combination sight entails a weapon (8) that is controlled by the sensors. The sight sensors (16-18) included in the combination sight can also be utilized for fire control of exterior weapons located elsewhere as well as for gathering purely surveillance data.

Abstract: An improved drive mechanism (100) adapted to be mounted on a support for controllably moving a first output shaft (16) about either or both of two orthogonal axes (T, E). The drive mechanism having a stationary lower portion adapted to be mounted on the support and having a movable upper portion mounted for movement relative to the stationary portion. The improved drive mechanism broadly includes: a first power train (10, 12, 2, 4, 14) for controllably rotating a first gear (6); a second power train (9, 11, 1, 3,13) for controllably rotating a second gear (5); and a third gear (7) connected to the first output shaft and meshing with at least one of the first and second gears. The first, second and third gears form a portion of a differential-like mechanism (18) mechanically coupling the first and second power trains to the first output shaft.

Abstract: A remote weapon station including a weapon support adapted for rotatable motion about a first transverse axis. The weapon support supports a weapon attachment device being rotatable about a second elevation axis. A sight unit is rotatable about a third transverse axis and about, perpendicular to the third transverse axis, a fourth elevation axis, independently of the position or rotation of the weapon support about the first transverse axis and the second elevation axis. The sight unit is mounted between the weapon support and the weapon attachment device.

Abstract: A gimbaled weapon system (GWS) includes methods for implementing no fire of the weapon, including a method based on azimuth coordinates of predetermined no fire zones which are stored in a control unit, and overriding operator control of the GWS from a second observation unit which his separate from a first or gunner observation unit.

Abstract: A stabilizing mount system for cameras, sensors and weapons. This invention stabilizes payloads such as cameras sensors and weapons on moving vehicles such as HMMWV's, (military Humvees) off-road vehicles, boats aircraft and unmanned vehicles. The stabilizing mount system allows hands-on control of the payload device such as the camera or weapon while the stabilization is active. This includes allowing a gunner of a crew served weapon to free-gun or have hands-on control to operate the weapon while the weapon is being actively stabilized. The invention has various modes including target lock. Cameras and sensors are also stabilized and provide a useable output for a remote operator or artificially intelligent computer.

Abstract: This invention, as a unit, is a training adjustable combination sight, primarily intended to be mounted on a vehicle of smaller vessel for close-in defence of these against air and ground attacks. In its entirety, aside from the required sight sensors (16-18) situated in an intentionally elevatable sensor housing (4), the combination sight entails a weapon (8) that is sensors. The sight sensors (16-18) included in the combination sight can also be utilised for fire control of exterior weapons located elsewhere as well as for gathering purely surveillance data.

Abstract: An active damping system for damping the rotation of an object to an extent dependent upon the angular velocity of the object utilizes a feedback mechanism and provides a robust method for rotational damping. The active damping system comprises a torque controller, a speed measuring device connected to said torque controller for measuring a speed correlated with the rotation to be damped, and a torque generating device for producing the damping torque, which is controlled by the torque controller. Where the torque controller is a microprocessor, various defined relationships between the rotation to be damped and the damping torque can be programmed into the torque controller, which can also perform diagnostics on the active damping system. Both the programmability and the ability to perform diagnostics allow the active damping system to respond reproducibly over a range of environmental conditions.

Abstract: The invention relates to a firing direction system for adjusting a rocket launcher, and includes a drive motor (9) that is connected via a safety brake (2-8) with a drive shaft (1) for adjusting the rocket launcher, whereby a rotation of the drive shaft (1) in a first direction effects a raising of the rocket launcher, and a rotation in the opposite direction effects a lowering of the rocket launcher, whereby the safety brake prevents a back-driving torque of the rocket launcher from effecting a rotation of the drive shaft (1) in the opposite direction. In addition, an electric motor (11) is disposed on the drive shaft (1) and is controlled is such a way that upon a rotation of the drive shaft in the first direction, the electric motor effects an additional torque of the drive shaft (1) in the first direction, and upon rotation of the drive shaft in the opposite direction effects a recovery of energy.

Abstract: The present invention provides a powered aiming platform for pointing devices such as firearms, illumination devices, or sensing instruments, remotely controlled by a hand-controller device, with video feedback of the aiming position and audio feedback of the exact direction and speed of positioning movements. The present invention overcomes the safety and accuracy limitations of manual and conventional remotely-controlled aiming mechanisms, thereby allowing operators to point devices accurately and quickly with predictable, precise control. In the case of firearms, the present invention maintains a steady position after repeated firing.

Abstract: An active damping system for damping the rotation of an object to an extent dependent upon the angular velocity of the object utilizes a feedback mechanism and provides a robust method for rotational damping. The active damping system comprises a torque controller, a speed measuring device connected to said torque controller for measuring a speed correlated with the rotation to be damped, and a torque generating device for producing the damping torque, which is controlled by the torque controller. Where the torque controller is a microprocessor, various defined relationships between the rotation to be damped and the damping torque can be programmed into the torque controller, which can also perform diagnostics on the active damping system. Both the programmability and the ability to perform diagnostics allow the active damping system to respond reproducibly over a range of environmental conditions.

Abstract: A mechanism for retrofitting a turret that has a manual rotation system with a motorized turret rotation system includes a gear box mechanically coupled to the turret, an electrically powered prime mover unit mechanically coupled to the gear box, a user operated control device electrically coupled to the prime mover unit, and an electrical power supply electrically coupled to the prime mover unit. The turret rotates relative to a body structure. The gear box and the prime mover unit are mounted to the body structure. The control device and the electrical power supply are positioned on the turret. The power supply provides electrical power to the prime mover. The control device presents a control signal to the prime mover when the user actuates the control device, and the turret rotates in response to the control signal.

Abstract: In a system for controlling the inclination angle and rotation angle of a body, a rotary actuator is coupled to a base. A pivot actuator is coupled to an output shaft of the rotary actuator. The rotary actuator controls the angular position of the pivot actuator. A displacement member is coupled to an output shaft of the pivot actuator. The pivot actuator controls the linear position of the displacement member. A support shaft is pivotably coupled to the displacement member. A spherical bearing includes a socket that is coupled to the base and a ball that is coupled to the support shaft. In this manner, the angular position and linear position of the displacement member is translated to a corresponding rotation angle and inclination angle in the support shaft. This system provides for a continuous range of rotation of the upper body and a continuous range of inclination angles in the upper body relative to the lower base.