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

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Yksityiskohdat

AlkuperäiskieliEnglanti
Otsikko2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP)
KustantajaIEEE
Sivut229-235
Sivumäärä7
ISBN (elektroninen)978-1-5386-5860-4
ISBN (painettu)978-1-5386-5861-1
DOI - pysyväislinkit
TilaJulkaistu - marraskuuta 2018
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaInternational Conference on Intelligent Control and Information Processing -
Kesto: 1 tammikuuta 1900 → …

Conference

ConferenceInternational Conference on Intelligent Control and Information Processing
Ajanjakso1/01/00 → …

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.

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