Experimental determination of the inertial properties of small robotic systems using a torsion platform. (15th September 2019)

• Record Type: Journal Article
• Authors: Olmedo, Nicolas A.; Barczyk, Martin; Lipsett, Michael
• Is Part Of: Mechanical systems and signal processing. Volume 131(2019)
• Page Start: 71
• Page End: 96
• Publication Date: 2019-09-15
• Subjects: Inertia tensor -- Estimation -- Torsion platform -- Torsion pendulum -- Robotics -- UAV; Structural dynamics -- Periodicals; Vibration -- Periodicals; Constructions -- Dynamique -- Périodiques; Vibration -- Périodiques; Structural dynamics; Vibration; Periodicals; 621
• DOI: 10.1016/j.ymssp.2019.05.021
• Languages: English
• ISSNs: 0888-3270

Abstract

Highlights: Estimating inertia tensor requires dynamic testing. Existing test approaches typically lead to large uncertainty in estimated parameters. High precision torsional platform was designed, built, calibrated and validated. Parameter uncertainty quantified, showing improved performance over existing methods. Apparatus used to estimate inertia tensor and centre of mass of quadrotor UAV. Abstract: The present work describes the development and operation of a novel instrumented torsion platform used to estimate the inertia tensor of small objects with complex geometries, such as mobile robots. Our proposed methodology is capable of estimating the moments and products of inertia plus the center of mass location of the rigid body being measured. The design of the platform is described, along with the equipment calibration procedure and results. Uncertainties are enumerated and quantified. The method is successfully validated in both simulation and experiment. Two case studies illustrate the utility of the system: determining the inertia tensor of a CNC-machined aluminum block and validating against its CAD model, and estimating the inertia properties of a small off-the-shelf quadrotor unmanned aerial vehicle.