DocumentCode :
2669529
Title :
On-line trajectory planning for autonomous robotic excavation based on force/torque sensor measurements
Author :
Wang, Fei-Yue ; Lever, Paul J A
Author_Institution :
Dept. of Syst. & Ind. Eng., Arizona Univ., Tucson, AZ, USA
fYear :
1994
fDate :
2-5 Oct 1994
Firstpage :
371
Lastpage :
378
Abstract :
This paper describes the authors´ initial investigation into on-line trajectory planning for autonomous robotic excavation. A dynamic model for arm/environment interaction is proposed. Excavation trajectories are generated using a trapezoidal velocity profile under the maximum force/torque constraints. A scheme for real-time identification of dynamic arm/environment interaction parameters is implemented with a first-order algorithm of Saridis-Stein stochastic approximation. The result of a simulation study is presented to illustrate the proposed trajectory planning approach
Keywords :
approximation theory; excavators; force measurement; manipulators; mobile robots; parameter estimation; path planning; position control; sensor fusion; torque measurement; Saridis-Stein stochastic approximation; arm/environment interaction; autonomous robotic excavation; dynamic model; first-order algorithm; force/torque sensor measurements; maximum force/torque constraints; online trajectory planning; trapezoidal velocity profile; Automatic control; Control systems; Force measurement; Force sensors; Fuzzy logic; Humans; Robot sensing systems; Robotics and automation; Torque measurement; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1994. IEEE International Conference on MFI '94.
Conference_Location :
Las Vegas, NV
Print_ISBN :
0-7803-2072-7
Type :
conf
DOI :
10.1109/MFI.1994.398430
Filename :
398430
Link To Document :
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