TUTCRIS

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 -