Analysis of human-operated motions and trajectory replanning for kinematically redundant manipulators

  • Authors:

  • Uwe Mettin;Simon Westerberg;Anton S. Shiriaev;Pedro X. La Hera

  • Affiliations:

  • Department of Applied Physics and Electronics, Umeå University, Umeå, Sweden;Department of Applied Physics and Electronics, Umeå University, Umeå, Sweden;Department of Applied Physics and Electronics, Umeå University, Umeå, Sweden and Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway;Department of Applied Physics and Electronics, Umeå University, Umeå, Sweden

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

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.