3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope
Tutkimustuotos › › vertaisarvioitu
Yksityiskohdat
| Alkuperäiskieli | Englanti |
|---|---|
| Otsikko | 2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP) |
| Kustantaja | IEEE |
| Sivut | 229-235 |
| Sivumäärä | 7 |
| ISBN (elektroninen) | 978-1-5386-5860-4 |
| ISBN (painettu) | 978-1-5386-5861-1 |
| DOI - pysyväislinkit | |
| Tila | Julkaistu - marraskuuta 2018 |
| OKM-julkaisutyyppi | A4 Artikkeli konferenssijulkaisussa |
| Tapahtuma | International Conference on Intelligent Control and Information Processing - Kesto: 1 tammikuuta 1900 → … |
Conference
| Conference | International Conference on Intelligent Control and Information Processing |
|---|---|
| Ajanjakso | 1/01/00 → … |
Tiivistelmä
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.