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3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publication2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP)
Number of pages7
ISBN (Electronic)978-1-5386-5860-4
ISBN (Print)978-1-5386-5861-1
Publication statusPublished - Nov 2018
Publication typeA4 Article in a conference publication
EventInternational Conference on Intelligent Control and Information Processing -
Duration: 1 Jan 1900 → …


ConferenceInternational Conference on Intelligent Control and Information Processing
Period1/01/00 → …


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.


  • Erbium, Quaternions, Gyroscopes, Cranes, Angular velocity, Modulation, Calibration, IMU, quaternion, anti-sway, crane

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Field of science, Statistics Finland

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