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

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    Abstract

    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.
    Original languageEnglish
    Title of host publication2017 IEEE 8th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
    PublisherIEEE
    Number of pages6
    ISBN (Electronic)978-1-5386-3135-5
    DOIs
    Publication statusPublished - 2018
    Publication typeA4 Article in a conference publication
    EventIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) -
    Duration: 1 Jan 2000 → …

    Conference

    ConferenceIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
    Abbreviated titleCIS-RAM
    Period1/01/00 → …

    Publication forum classification

    • Publication forum level 1

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