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 |
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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 |
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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
Publication forum classification
Field of science, Statistics Finland
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