Motion Analysis and Trajectory Replanning of Human-operated Manipulators: Application to a Forestry Crane
نویسندگان
چکیده
In this paper we consider the motion planning problem for a kinematically redundant manipulator which is used on forestry machines for logging. The analysis of recorded data from human operation forms the basis of our investigation. Replanning the motions reveals that the human operator does not use the full potential of the machine due to the complexity of the manipulation task. We show that smart motion planning has a big potential to speed up crane motions.
منابع مشابه
Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control
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