Steps in trajectory planning and controller design for a hydraulically driven crane with limited sensing [Elektronisk resurs]
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Ortiz Morales, Daniel, 1984- (författare)
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IEEE/RSJ International Conference on Intelligent Robots and Systems , Taipei, Taiwan, 18-22 Oct 2010
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La Hera, Pedro (författare)
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Mettin, Uwe, 1979- (författare)
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Freidovich, Leonid (författare)
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Shiriaev, Anton (författare)
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Westerberg, Simon (författare)
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Robotics and Control Lab (medarbetare)
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Robotics and Control Lab (medarbetare)
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Robotics and Control Engineering (medarbetare)
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Robotics and Control Lab (medarbetare)
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Robotics and Control Engineering (NTNU), Robotics and Control Lab (Umeå University) (medarbetare)
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Robotics and Control Lab (medarbetare)
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Umeå universitet Teknisk-naturvetenskapliga fakulteten (utgivare)
- Publicerad: IEEE conference proceedings, 2010
- Engelska.
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Serie: IEEE International Conference on Intelligent Robots and Systems, Proceedings, 2153-0858
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. ; 3836-3841
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Sammanfattning
Ämnesord
Stäng
- 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.
Ämnesord
- Agricultural Sciences (hsv)
- Agricultural Science, Forestry and Fisheries (hsv)
- Forest Science (hsv)
- Lantbruksvetenskaper (hsv)
- Lantbruksvetenskap, skogsbruk och fiske (hsv)
- Skogsvetenskap (hsv)
- Engineering and Technology (hsv)
- Electrical Engineering, Electronic Engineering, Information Engineering (hsv)
- Control Engineering (hsv)
- Teknik och teknologier (hsv)
- Elektroteknik och elektronik (hsv)
- Reglerteknik (hsv)
- FORESTRY, AGRICULTURAL SCIENCES and LANDSCAPE PLANNING (svep)
- Area technology (svep)
- Forest engineering (svep)
- SKOGS- och JORDBRUKSVETENSKAP samt LANDSKAPSPLANERING (svep)
- Areell teknik (svep)
- Skogsteknik (svep)
- TECHNOLOGY (svep)
- Information technology (svep)
- Automatic control (svep)
- TEKNIKVETENSKAP (svep)
- Informationsteknik (svep)
- Reglerteknik (svep)
Indexterm och SAB-rubrik
- Motion planning
- hydraulic manipulator
- implementation
- open loop control
Inställningar
Hjälp
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