TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Inertial Sensor-Based State Estimation of Flexible Links Subject to Bending and Torsion

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
Otsikko2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
KustantajaIEEE
Sivumäärä8
ISBN (painettu)9781538646434
DOI - pysyväislinkit
TilaJulkaistu - 27 elokuuta 2018
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Oulu, Suomi
Kesto: 2 heinäkuuta 20184 heinäkuuta 2018

Conference

ConferenceIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
MaaSuomi
KaupunkiOulu
Ajanjakso2/07/184/07/18

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.