3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope
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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.Tutkimustuotos › › vertaisarvioitu
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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 -