Path Generation for a Redundant Sensor Guided Unloading Crane
نویسندگان
چکیده
The path generation for a redundant sensor guided coal unloading crane is discussed in this paper. After using much of task specific knowledge to restrict the possible Tool Center Point (TCP) trajectories to a feasible subspace, two approaches are analyzed to optimize the dig head trajectory in this subspace: a Fuzzy Logic and a Dynamic Programming based trajectory generation. Experimental results are presented for a CCD-camera guided hydraulic manipulator tracking an optimized unload trajectory.
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تاریخ انتشار 2002