Steps in trajectory planning and controller design for a hydraulically driven crane with limited sensing
2010 (English)In: IEEE International Conference on Intelligent Robots and Systems, IEEE conference proceedings, 2010, 3836-3841 p.Conference paper (Refereed)
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.
, IEEE International Conference on Intelligent Robots and Systems, Proceedings, ISSN 2153-0858
Motion planning, hydraulic manipulator, implementation, open loop control
Forest Science Control Engineering
IdentifiersURN: urn:nbn:se:umu:diva-42162DOI: 10.1109/IROS.2010.5649779ISI: 000287672005157ISBN: 978-1-4244-6674-0OAI: oai:DiVA.org:umu-42162DiVA: diva2:408813
IEEE/RSJ International Conference on Intelligent Robots and Systems , Taipei, Taiwan, 18-22 Oct 2010