Inertial Sensor-Based State Estimation of Flexible Links Subject to Bending and Torsion
Tutkimustuotos › › vertaisarvioitu
Yksityiskohdat
| Alkuperäiskieli | Englanti |
|---|---|
| Otsikko | 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018 |
| Kustantaja | IEEE |
| Sivumäärä | 8 |
| ISBN (painettu) | 9781538646434 |
| DOI - pysyväislinkit | |
| Tila | Julkaistu - 27 elokuuta 2018 |
| OKM-julkaisutyyppi | A4 Artikkeli konferenssijulkaisussa |
| Tapahtuma | IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Oulu, Suomi Kesto: 2 heinäkuuta 2018 → 4 heinäkuuta 2018 |
Conference
| Conference | IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications |
|---|---|
| Maa | Suomi |
| Kaupunki | Oulu |
| Ajanjakso | 2/07/18 → 4/07/18 |
Tiivistelmä
In this study, we propose an observer design based on inertial sensors and the finite element (FE) method to estimate the flexural states of a long-reach and highly flexible manipulator in a 3D plane of motion. Vertical and lateral dynamic bendings are considered, along with deformation due to torsion. The aim is to achieve accurate end-point positioning by using the estimated flexural degrees-of-freedom, which are formulated using an FE model. The states are reconstructed based on angular velocity measurements, which are obtained from strap-on inertial sensors placed along the flexible link. For validation, a motion-capture setup consisting of three OptiTrack cameras is used. The experiments are conducted on a hydraulic manipulator that has a single 4.5-m long flexible link with a tip mass. The validation is carried out by comparing the estimates to the OptiTrack reference measurements. The results demonstrate that this method provides satisfactory end-point positioning, while also being convenient for use in heavy-duty mobile manipulators.