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

Petri Mäkinen; Teemu Mononen; Jouni Mattila

doi:10.1109/MESA.2018.8449188

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

Petri Mäkinen
, Teemu Mononen
, Jouni Mattila

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

1 Citation (Scopus)

42 Downloads (Pure)

Abstract

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.

Original language	English
Title of host publication	2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Publisher	IEEE
Number of pages	8
ISBN (Print)	9781538646434
DOIs	https://doi.org/10.1109/MESA.2018.8449188
Publication status	Published - 27 Aug 2018
Publication type	A4 Article in conference proceedings
Event	IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Oulu, Finland Duration: 2 Jul 2018 → 4 Jul 2018

Conference

Conference	IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Country/Territory	Finland
City	Oulu
Period	2/07/18 → 4/07/18

Funding

This work was supported by the Academy of Finland under the project “CPS-based supervision and control of flexible link manipulators,” grant no. 294915.

Keywords

finite element method
inertial sensors
state estimation

Publication forum classification

Publication forum level 1

ASJC Scopus subject areas

Control and Optimization
Computer Science Applications
Electrical and Electronic Engineering
Mechanical Engineering
Instrumentation

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10.1109/MESA.2018.8449188

Inertial Sensor-Based State Estimation of FlexibleLinks Subject to Bending and Torsion 2018
This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited.
Accepted author manuscript, 1.56 MB

http://urn.fi/URN:NBN:fi:tuni-202001271550

Cite this

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title = "Inertial Sensor-Based State Estimation of Flexible Links Subject to Bending and Torsion",

abstract = "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.",

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Mäkinen, P, Mononen, T & Mattila, J 2018, Inertial Sensor-Based State Estimation of Flexible Links Subject to Bending and Torsion. in 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018., 8449188, IEEE, IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Oulu, Finland, 2/07/18. https://doi.org/10.1109/MESA.2018.8449188

Inertial Sensor-Based State Estimation of Flexible Links Subject to Bending and Torsion. / Mäkinen, Petri; Mononen, Teemu; Mattila, Jouni.
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018. IEEE, 2018. 8449188.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

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N2 - 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.

AB - 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.

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BT - 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018

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

Abstract

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Keywords

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ASJC Scopus subject areas

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