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Inertial Sensor-Based State Estimation of Flexible Links Subject to Bending and Torsion

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

Details

Original languageEnglish
Title of host publication2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
PublisherIEEE
Number of pages8
ISBN (Print)9781538646434
DOIs
Publication statusPublished - 27 Aug 2018
Publication typeA4 Article in a conference publication
EventIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Oulu, Finland
Duration: 2 Jul 20184 Jul 2018

Conference

ConferenceIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
CountryFinland
CityOulu
Period2/07/184/07/18

Abstract

In this study, we propose an observer design based on inertial sensors and the finite element (FE) method to estimate the flexural states of a long-reach and highly flexible manipulator in a 3D plane of motion. Vertical and lateral dynamic bendings are considered, along with deformation due to torsion. The aim is to achieve accurate end-point positioning by using the estimated flexural degrees-of-freedom, which are formulated using an FE model. The states are reconstructed based on angular velocity measurements, which are obtained from strap-on inertial sensors placed along the flexible link. For validation, a motion-capture setup consisting of three OptiTrack cameras is used. The experiments are conducted on a hydraulic manipulator that has a single 4.5-m long flexible link with a tip mass. The validation is carried out by comparing the estimates to the OptiTrack reference measurements. The results demonstrate that this method provides satisfactory end-point positioning, while also being convenient for use in heavy-duty mobile manipulators.

Keywords

  • finite element method, inertial sensors, state estimation

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