Sökning: id:"swepub:oai:DiVA.org:umu-33650" >
Semi-autonomous sha...
Semi-autonomous shared control of large-scale manipulator arms
-
- Hansson, Anders (författare)
- Umeå universitet,Institutionen för fysik
-
- Servin, Martin (författare)
- Umeå universitet,Institutionen för fysik,UMIT
-
(creator_code:org_t)
- Elsevier, 2010
- 2010
- Engelska.
-
Ingår i: Control Engineering Practice. - : Elsevier. - 0967-0661 .- 1873-6939. ; 18:9, s. 1069-1076
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- Semi-autonomous operation with shared control between the human operator and control computer has been developed and examinedfor a large-scalemanipulator for gripping and lifting heavy objects in unstructured dynamical environments. The technique hasbeen implemented on a electro-hydraulic actuated crane arm with redundant kinematic structure. Several modes of automation andinteraction were evaluated. Experiments show satisfactory smoothness in the transitions between autonomous, shared and manualcontrol, increased performance in log loading for inexperienced operators while experienced operators reported reduced workload.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- LANTBRUKSVETENSKAPER -- Lantbruksvetenskap, skogsbruk och fiske -- Skogsvetenskap (hsv//swe)
- AGRICULTURAL SCIENCES -- Agriculture, Forestry and Fisheries -- Forest Science (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Systemvetenskap, informationssystem och informatik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Information Systems (hsv//eng)
Nyckelord
- Autonomous control
- man/machine interaction
- human supervisorycontrol
- large-scale redundantmanipulator
- robotics inagricultureandforestry
- Automatic control
- Reglerteknik
- Forest engineering
- Skogsteknik
- Systems engineering
- Systemteknik
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
Hitta via bibliotek
Till lärosätets databas