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• W4387123649 abstract "Achieving automated assembly with construction cranes is an essential step for efficient and sustainable construction of housing stock. A key requirement for automated assembly is the automated alignment of payloads to predefined orientations. For this reason, a novel hook-mounted crane gripper was constructed. This paper focuses on the rotation control of the gripper, which can be rotated by the thrust of two attached propellers. The rotation dynamics are described by a second order differential equation derived with the principle of angular momentum. The rotation angle and its speed are measured by a camera detecting ArUco markers and a gyro sensor of an inertial measurement unit (IMU). The crucial control design challenge is that the payload's moment of inertia is unknown and that the gyro measurement is biased at the same time. Knowing the moment of inertia is crucial for designing a controller with good tracking behavior and without overshoot. For this reason, an extended Kalman filter (EKF) is designed enabling the online identification of the gripper's moment of inertia. The observability condition of the extended system is checked. The EKF is then included in a Two-Degree-of-Freedom control structure, which is updated online. The controller is applied to the real gripper and its performance is illustrated based on measurement data captured during the trajectory tracking of exemplary set point transitions." @default.
• W4387123649 created "2023-09-29" @default.
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• W4387123649 date "2023-08-26" @default.
• W4387123649 modified "2023-10-18" @default.
• W4387123649 title "Rotation Control of a Novel Crane Gripper with Visual-Inertial Feedback" @default.
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• W4387123649 doi "https://doi.org/10.1109/case56687.2023.10260451" @default.
• W4387123649 hasPublicationYear "2023" @default.
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