3D Attitude Calculation for the Grasper of a Crane System with a Rotary Gyroscope
Zhang,Xiaolong; Mustalahti,Pauli; Peltola,Eelis; Mattila,Jouni (2018-11)
11 / 2018
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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.
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