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Enhancing digital h...
Enhancing digital human motion planning of assembly tasks through dynamics and optimal control
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- Björkenstam, Staffan C, 1981 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Delfs, N. (author)
- Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik (FCC),Fraunhofer-Chalmers Research Centre for Industrial Mathematics (FCC)
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- Carlson, Johan, 1972 (author)
- Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik (FCC),Fraunhofer-Chalmers Research Centre for Industrial Mathematics (FCC)
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- Bohlin, R. (author)
- Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik (FCC),Fraunhofer-Chalmers Research Centre for Industrial Mathematics (FCC)
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- Lennartson, Bengt, 1956 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- Elsevier BV, 2016
- 2016
- English.
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In: Procedia CIRP. - : Elsevier BV. - 2212-8271. ; 44, s. 20-25
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Abstract
Subject headings
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- Better operator ergonomics in assembly plants reduce work related injuries, improve quality, productivity and reduce cost. In this paper we investigate the importance of modeling dynamics when planning for manual assembly operations. We propose modeling the dynamical human motion planning problem using the Discrete Mechanics and Optimal Control (DMOC) method, which makes it possible to optimize with respect to very general objectives. First, two industrial cases are simulated using a quasi-static inverse kinematics solver, demonstrating problems where this approach is sufficient. Then, the DMOC-method is used to solve for optimal trajectories of a lifting operation with dynamics. The resulting trajectories are compared to a steady state solution along the same path, indicating the importance of using dynamics.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Produktionsteknik, arbetsvetenskap och ergonomi (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Production Engineering, Human Work Science and Ergonomics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Keyword
- Digital human modeling
- Optimal control
- Assembly
- Ergonomy
- Dynamics
Publication and Content Type
- kon (subject category)
- ref (subject category)
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