3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope
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Yksityiskohdat
Alkuperäiskieli | Englanti |
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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 |
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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.
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