THE FOREST MODS CRANE MANUAL
THE FOREST MODS CRANE SOFTWARE

Specifically, this system was used to investigate concepts of teleoperation and virtual environment feedback.

THE FOREST MODS CRANE SOFTWARE

Further, a modular software platform was implemented, integrating several important components into a framework for designing and testing future interaction concepts. A preliminary interaction model derived from user experiments yielded promising results for forming the basis of a target selection method, particularly when combined with some traded control strategy. For this specific application a simple and intuitive interaction method for accessing automated crane motions was suggested, based on head tracking of the operator. Evaluation suggests that this method is feasible for a reasonable deviation of initial conditions.ДЄnother important aspect of partial automation is the human-machine interaction. An extension of this method was developed to automate some selected motions even for existing sensorless machines. Using the method of path-constrained trajectory planning, automated crane motions were demonstrated to potentially provide a substantial improvement from motions performed by experienced human operators. Following data recording and analysis of the current work tasks of machine operators, trajectory planning and execution for a specific category of forwarder crane motions has been identified as an important first step for short term automation. The thesis describes the development and integration of several algorithmic methods and the implementation of corresponding software solutions, adapted to the forestry machine context. The objectives of this thesis are 1) to describe and analyze the current logging process and to locate areas of improvements that can be implemented in current machines, and 2) to investigate future methods and concepts that possibly require changes in work methods as well as in the machine design and technology.

At the same time, the working environment for the operator can be improved by a reduced workload, provided that the human-machine interaction is adapted to the new automated functionality. A suggested solution strategy is to enhance the production capacity by increasing the level of automation. This complicates the introduction of further incremental productivity improvements to the machines, as the operator becomes a bottleneck in the process.

THE FOREST MODS CRANE MANUAL

However, the maneuvering of the vehicles through the forest as well as the control of the on-board hydraulic boom crane is currently performed through continuous manual operation. The process of forest harvesting is highly mechanized in most industrialized countries, with felling and processing of trees performed by technologically advanced forestry machines. Robotics Control Engineering Identifiers URN: urn:nbn:se:umu:diva-86214 DOI: 10.1002/rob.21496 ISI: 000333934200001 OAI: oai::umu-86214 DiVA, id: diva2:710077Дў014 (English) Doctoral thesis, comprehensive summary (Other academic) Alternative title Delautomatisering av skogsmaskiner : RГ¶relseplanering, systemintegration och mГ¤nniska-maskin-interaktion Tree harvesting systems robotic manipulators excavator industrialization National Category Place, publisher, year, edition, pagesWiley-Blackwell, 2014. To demonstrate performance, we provide an overview of an extensive testingdone on these machines. Relying on the tracking efficiency of thesecontrollers, we design time efficient reference trajectories of motions that correspond tologging tasks. Likewise, we provide arguments to design controllers in open-loop for thecase of machines lacking of sensing devices. For motion control,we design feedback controllers that are able to track reference trajectories based on sensormeasurements. The aim of this article is to present the results ofthis development by providing an overview of our trajectory planning algorithm and motioncontrol method, with a subsequent view of the experimental results.

They correspond to a laboratory setup and a commercial version of a hydraulicmanipulator used in forwarder machines. Motivated by this fact, we have developedtwo experimental platforms for testing control systems and motion planning algorithms inreal-time. In view of this, introducing automated motions, as those seenin robotic arms, is ambitioned by this industry for shortening the amount of training timeand make the work of the operator easier. Working with forestry machines requires great amount of training to be sufficiently skilledto operate forestry cranes. 343-363 Article in journal (Refereed) Published Abstract Show others and affiliations 2014 (English) In: Journal of Field Robotics, ISSN 1556-4959, E-ISSN 1556-4967, Vol.

The forest mods crane