Analysis of human-operated motions and trajectory replanning for kinematically redundant manipulators
2009 (English)In: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems: St.Louis, USA, 2009, 795-800 p.Conference paper (Refereed)
We consider trajectory planning for kinematically redundant manipulators used on forestry machines. The analysis of recorded data from human operation reveals that the driver does not use the full potential of the machine due to the complexity of the manipulation task. We suggest an optimization procedure that takes advantage of the kinematic redundancy so that time-efficient joint and velocity profiles along the path can be obtained. Differential constraints imposed by the manipulator dynamics are accounted for by employing a phase-plane technique for admissible path timings. Velocity constraints of the individual joints are particularly restrictive in hydraulic manipulators. Our study aims for semi-autonomous schemes that can provide assistance to the operator for executing global motions.
Place, publisher, year, edition, pages
2009. 795-800 p.
Motion Planning, Kinematically Redundant Manipulators, Robotics in Agriculture and Forestry
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject Automatic Control
IdentifiersURN: urn:nbn:se:umu:diva-30078OAI: oai:DiVA.org:umu-30078DiVA: diva2:279362