3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review
Details
| Original language | English |
|---|---|
| Title of host publication | 2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP) |
| Publisher | IEEE |
| Pages | 229-235 |
| Number of pages | 7 |
| ISBN (Electronic) | 978-1-5386-5860-4 |
| ISBN (Print) | 978-1-5386-5861-1 |
| DOIs | |
| Publication status | Published - Nov 2018 |
| Publication type | A4 Article in a conference publication |
| Event | International Conference on Intelligent Control and Information Processing - Duration: 1 Jan 1900 → … |
Conference
| Conference | International Conference on Intelligent Control and Information Processing |
|---|---|
| Period | 1/01/00 → … |
Abstract
This paper focuses on attitude calculation for a grasper, which hangs on a heavy-duty machine with rope or links at the boom tip, using a triad-axis rotary gyroscope attached on the grasper. The aim of the attitude calculation is to provide anti-sway control. We try to decrease the drift of the gyroscope in two directions, except the rotation axis. The algorithm was validated on a test bed, which is based on a crane system. The test results show that with a rotary platform, long-term drift of the gyro decreased and the accuracy of angle integration for the grasper became better.
Keywords
- Erbium, Quaternions, Gyroscopes, Cranes, Angular velocity, Modulation, Calibration, IMU, quaternion, anti-sway, crane