3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope
Zhang, Xiaolong; Mustalahti, Pauli; Peltola, Eelis; Mattila, Jouni (2018-11)
Zhang, Xiaolong
Mustalahti, Pauli
Peltola, Eelis
Mattila, Jouni
IEEE
11 / 2018
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tuni-201912237102
https://urn.fi/URN:NBN:fi:tuni-201912237102
Kuvaus
Peer reviewed
Tiivistelmä
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.
Kokoelmat
- TUNICRIS-julkaisut [16977]