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

Tutkimustuotos: Konferenssiartikkeli › Tieteellinen › vertaisarvioitu

1 Sitaatiot (Scopus)

45 Lataukset (Pure)

Abstrakti

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.

Alkuperäiskieli	Englanti
Otsikko	2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Kustantaja	IEEE
Sivumäärä	8
ISBN (painettu)	9781538646434
DOI - pysyväislinkit	https://doi.org/10.1109/MESA.2018.8449188
Tila	Julkaistu - 27 elok. 2018
OKM-julkaisutyyppi	A4 Artikkeli konferenssijulkaisussa
Tapahtuma	IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Oulu, Suomi Kesto: 2 heinäk. 2018 → 4 heinäk. 2018

Conference

Conference	IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Maa/Alue	Suomi
Kaupunki	Oulu
Ajanjakso	2/07/18 → 4/07/18

Rahoitus

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

Julkaisufoorumi-taso

Jufo-taso 1

!!ASJC Scopus subject areas

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

Pääsy asiakirjaan

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

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@inproceedings{0d688c1237214951917087a9f7c863f3,

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.",

keywords = "finite element method, inertial sensors, state estimation",

author = "Petri M{\"a}kinen and Teemu Mononen and Jouni Mattila",

year = "2018",

month = aug,

day = "27",

doi = "10.1109/MESA.2018.8449188",

language = "English",

isbn = "9781538646434",

booktitle = "2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018",

publisher = "IEEE",

address = "United States",

note = "IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications ; Conference date: 02-07-2018 Through 04-07-2018",

}

Mäkinen, P, Mononen, T & Mattila, J 2018, Inertial Sensor-Based State Estimation of Flexible Links Subject to Bending and Torsion. julkaisussa 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, Suomi, 2/07/18. https://doi.org/10.1109/MESA.2018.8449188

TY - GEN

T1 - Inertial Sensor-Based State Estimation of Flexible Links Subject to Bending and Torsion

AU - Mäkinen, Petri

AU - Mononen, Teemu

AU - Mattila, Jouni

PY - 2018/8/27

Y1 - 2018/8/27

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.

KW - finite element method

KW - inertial sensors

KW - state estimation

U2 - 10.1109/MESA.2018.8449188

DO - 10.1109/MESA.2018.8449188

M3 - Conference contribution

AN - SCOPUS:85053925148

SN - 9781538646434

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

PB - IEEE

T2 - IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications

Y2 - 2 July 2018 through 4 July 2018

ER -

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

Abstrakti

Conference

Rahoitus

Julkaisufoorumi-taso

!!ASJC Scopus subject areas

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