Path-constrained motion analysis: an algorithm to understand human performance on hydraulic manipulators
2015 (English)In: IEEE Transactions on Human-Machine Systems, ISSN 2168-2291, Vol. 45, no 2, 187-199 p.Article in journal (Refereed) Published
We propose a novel method to analyze how human operators use hydraulic manipulators of heavy-duty equipment. The approach is novel in the sense that it applies knowledge of motion planning and optimization techniques used in robotics. As an example, we consider the case of operating a forestry crane. To that end, we use motion data that has been recorded during standard operation with the help of sensors and a data acquisition unit. The data backs up the notion that operators work by performing repeatable patterns observed in the trajectories of the manipulator's joints. We show how this nominal behavior is computed, and consequently this allow us to present the following: 1) an analytical procedure to analyze motions, 2) how to represent the "performance" of the operator in a 2D plot, 3) an example of how to use this information to suggest customized control settings, and 4) some complementary ideas needed for improving efficiency through automation.
Place, publisher, year, edition, pages
2015. Vol. 45, no 2, 187-199 p.
forestry, human performance analysis, hydraulic manipulators, manual control
Robotics Control Engineering
IdentifiersURN: urn:nbn:se:umu:diva-87595DOI: 10.1109/THMS.2014.2366873ISI: 000351468500004OAI: oai:DiVA.org:umu-87595DiVA: diva2:710143