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

Tutkimustuotosvertaisarvioitu

Standard

3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope. / Zhang, Xiaolong; Mustalahti, Pauli; Peltola, Eelis; Mattila, Jouni.

2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP). IEEE, 2018. s. 229-235.

Tutkimustuotosvertaisarvioitu

Harvard

Zhang, X, Mustalahti, P, Peltola, E & Mattila, J 2018, 3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope. julkaisussa 2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP). IEEE, Sivut 229-235, International Conference on Intelligent Control and Information Processing, 1/01/00. https://doi.org/10.1109/ICICIP.2018.8606668

APA

Zhang, X., Mustalahti, P., Peltola, E., & Mattila, J. (2018). 3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope. teoksessa 2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP) (Sivut 229-235). IEEE. https://doi.org/10.1109/ICICIP.2018.8606668

Vancouver

Zhang X, Mustalahti P, Peltola E, Mattila J. 3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope. julkaisussa 2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP). IEEE. 2018. s. 229-235 https://doi.org/10.1109/ICICIP.2018.8606668

Author

Zhang, Xiaolong ; Mustalahti, Pauli ; Peltola, Eelis ; Mattila, Jouni. / 3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope. 2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP). IEEE, 2018. Sivut 229-235

Bibtex - Lataa

@inproceedings{c5fe09a59f10455da2472c80f56abf0c,
title = "3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope",
abstract = "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.",
keywords = "Erbium, Quaternions, Gyroscopes, Cranes, Angular velocity, Modulation, Calibration, IMU, quaternion, anti-sway, crane",
author = "Xiaolong Zhang and Pauli Mustalahti and Eelis Peltola and Jouni Mattila",
year = "2018",
month = "11",
doi = "10.1109/ICICIP.2018.8606668",
language = "English",
isbn = "978-1-5386-5861-1",
pages = "229--235",
booktitle = "2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP)",
publisher = "IEEE",

}

RIS (suitable for import to EndNote) - Lataa

TY - GEN

T1 - 3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope

AU - Zhang, Xiaolong

AU - Mustalahti, Pauli

AU - Peltola, Eelis

AU - Mattila, Jouni

PY - 2018/11

Y1 - 2018/11

N2 - 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.

AB - 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.

KW - Erbium

KW - Quaternions

KW - Gyroscopes

KW - Cranes

KW - Angular velocity

KW - Modulation

KW - Calibration

KW - IMU

KW - quaternion

KW - anti-sway

KW - crane

U2 - 10.1109/ICICIP.2018.8606668

DO - 10.1109/ICICIP.2018.8606668

M3 - Conference contribution

SN - 978-1-5386-5861-1

SP - 229

EP - 235

BT - 2018 Ninth International Conference on Intelligent Control and Information Processing (ICICIP)

PB - IEEE

ER -