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TUTCRIS

Inertial Sensor-Based State Estimation of Long-Reach Flexible-Link Manipulators

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
Otsikko2017 IEEE 8th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
KustantajaIEEE
Sivumäärä6
ISBN (elektroninen)978-1-5386-3135-5
DOI - pysyväislinkit
TilaJulkaistu - 2018
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) -
Kesto: 1 tammikuuta 2000 → …

Conference

ConferenceIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
LyhennettäCIS-RAM
Ajanjakso1/01/00 → …

Tiivistelmä

In this paper, we study the performance of a finite-element-based observer in estimating the flexural degrees of freedom (DOF) of a single-link flexible long-reach manipulator. The observability of the system confirms that all the flexural states of the system can be estimated using a single angular velocity measurement. The inputs to the observer are obtained from retrofittable and low-cost inertial sensors suitable for mobile machines. Results of the observer's performance with different measured states and varying loads are provided. Validation of the end-point position is carried out using an OptiTrack camera system. The performance of the estimated variables as feedback signals in high-performance control is demonstrated using a nonlinear model-based controller based on the virtual decomposition control framework. The test setup consists of a hydraulically driven 4.5-meter-long beam having a maximum tip mass of 70 kg, resulting in a static deflection of -56.7 cm. The initial experiments on the 1-DOF system indicate that the proposed method is effective.