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Steps in trajectory planning and controller design for a hydraulically driven crane with limited sensing
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
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2010 (English)In: IEEE International Conference on Intelligent Robots and Systems, IEEE conference proceedings, 2010, 3836-3841 p.Conference paper (Refereed)
Abstract [en]

In the forest industry, trees are logged and harvested by human-operated hydraulic manipulators. Eventually, these tasks are expected to be automated with optimal performance. However, with todays technology the main problem is implementation. While prototypes may have rich sensing information, real cranes lack certain sensing devices, such as encoders for position sensing. Automating these machines requires unconventional solutions. In this paper, we consider the motion planning problem, which involves a redesign of optimal trajectories, so that open loop control strategies can be applied using feed-forward control signals whenever sensing information is not available.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2010. 3836-3841 p.
Series
, IEEE International Conference on Intelligent Robots and Systems, Proceedings, ISSN 2153-0858
Keyword [en]
Motion planning, hydraulic manipulator, implementation, open loop control
National Category
Forest Science Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-42162DOI: 10.1109/IROS.2010.5649779ISI: 000287672005157ISBN: 978-1-4244-6674-0OAI: oai:DiVA.org:umu-42162DiVA: diva2:408813
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems , Taipei, Taiwan, 18-22 Oct 2010
Available from: 2011-04-06 Created: 2011-04-06 Last updated: 2015-09-29Bibliographically approved

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Ortiz Morales, DanielLa Hera, PedroMettin, UweFreidovich, LeonidShiriaev, AntonWesterberg, Simon
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Department of Applied Physics and Electronics
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