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Semi-autonomous shared control of large-scale manipulator arms
Umeå University, Faculty of Science and Technology, Department of Physics.
Umeå University, Faculty of Science and Technology, Department of Physics. (UMIT)
2010 (English)In: Control Engineering Practice, ISSN 0967-0661, Vol. 18, no 9, 1069-1076 p.Article in journal (Refereed) Published
Abstract [en]

Semi-autonomous operation with shared control between the human operator and control computer has been developed and examinedfor a large-scalemanipulator for gripping and lifting heavy objects in unstructured dynamical environments. The technique hasbeen implemented on a electro-hydraulic actuated crane arm with redundant kinematic structure. Several modes of automation andinteraction were evaluated. Experiments show satisfactory smoothness in the transitions between autonomous, shared and manualcontrol, increased performance in log loading for inexperienced operators while experienced operators reported reduced workload.

Place, publisher, year, edition, pages
Elsevier , 2010. Vol. 18, no 9, 1069-1076 p.
Keyword [en]
Autonomous control, man/machine interaction, human supervisorycontrol, large-scale redundantmanipulator, robotics inagricultureandforestry
National Category
Control Engineering Forest Science Information Science
URN: urn:nbn:se:umu:diva-33650DOI: 10.1016/j.conengprac.2010.05.015ISI: 000281877300008OAI: diva2:316239
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2015-10-02Bibliographically approved

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