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

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 795-800

  Mettin, Uwe ^a   Westerberg, Simon ^a   Shiriaev, Anton S ^a,b   La Hera, Pedro X ^a  

^a UMEÅ UNIVERSITY   (Sweden)

^b NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

Author keywords

Kinematically redundant manipulators; Motion planning; Robotics in agriculture and forestry

Indexed keywords

DIFFERENTIAL CONSTRAINTS; FORESTRY MACHINES; GLOBAL MOTION; HYDRAULIC MANIPULATOR; KINEMATIC REDUNDANCY; KINEMATICALLY REDUNDANT MANIPULATORS; MANIPULATION TASK; MANIPULATOR DYNAMICS; OPTIMIZATION PROCEDURES; PHASE PLANE; RE-PLANNING; TRAJECTORY PLANNING; VELOCITY CONSTRAINTS; VELOCITY PROFILES;

FORESTRY; HYDRAULIC MACHINERY; INTELLIGENT ROBOTS; MOTION PLANNING; NAVIGATION; REDUNDANT MANIPULATORS; ROBOTICS; TIMBER;

ROBOT PROGRAMMING;

AGRICULTURE; FORESTRY; FORESTS; HYDRAULICS; ROBOTS;

EID: 76249130256     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5354362     Document Type: Conference Paper

References (11)

1. J. Billingsley, A. Visala, and M. Dunn, Springer Handbook of Robotics. Berlin / Heidelberg: Springer-Verlag, 2008, ch. Robotics in Agriculture and Forestry, pp. 1065-1077.
2. J. Bobrow, S. Dubowsky, and J. Gibson, "Time-optimal control of robotic manipulators along specified paths," The International Journal of Robotics Research, vol. 4, no. 3, pp. 3-17, 1985.
3. S. Chiaverini, G. Oriolo, and I. Walker, Springer Handbook of Robotics. Berlin / Heidelberg: Springer-Verlag, 2008, ch. Kinemati-cally Redundant Manipulators, pp. 245-268.
4. J. Hollerbach, "Dynamic scaling of manipulator trajectories," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 106, no. 1, pp. 102-106, 1984.
5. S. LaValle, Planning Algorithms. New York: Cambridge University Press, 2006.
6. R. Patel and F. Shadpey, Control of Redundant Robot Manipulators. Berlin / Heidelberg: Springer-Verlag, 2005.
7. K. Shin and N. McKay, "Minimum-time control of robotic manipulators with geometric path constraints," IEEE Transactions on Automatic Control, vol. 30, no. 6, pp. 531-541, 1985.
8. A. Shiriaev, J. Perram, and C. Canudas-de-Wit, "Constructive tool for orbital stabilization of underactuated nonlinear systems: Virtual constraints approach," IEEE Transactions on Automatic Control, vol. 50, no. 8, pp. 1164-1176, 2005.
9. M. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control. New Jersey: John Wiley and Sons, 2006.
10. S. Westerberg, I. Manchester, U. Mettin, P. La Hera, and A. Shiriaev, "Virtual environment teleoperation of a hydraulic forestry crane," in Proceedings of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, USA, May 19-23 2008.
11. E. Westervelt, J. Grizzle, C. Chevallereau, J. Choi, and B. Morris, Feedback Control of Dynamic Bipedal Robot Locomotion. CRC Press, Taylor and Francis Group, 2007.