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Human-Performed Assembly Task Evaluation through a Virtual Operator

Abstract : The study presented in this paper aims at achieving optimal paths for a human-performed assembly task. Optimality, from an operator's point of view, means that minimal fatigue occurs. Trajectories for assembly parts, generated by potential fields, are optimized in terms of the work the operator has to do. Optimization is carried out by genetic algorithm. The trajectories have to satisfy the constraints imposed by physical human limitations. We therefore introduce a virtual human operator in the working environment, and determine by means of inverse kinematics if the trajectories are feasible. Our method is tested on the assembly of a mechanical part in 3D space.
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Contributor : Ashvin Sobhee <>
Submitted on : Friday, September 11, 2009 - 4:31:30 PM
Last modification on : Thursday, May 24, 2018 - 3:59:24 PM
Long-term archiving on: : Tuesday, June 15, 2010 - 9:46:43 PM


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  • HAL Id : lirmm-00416027, version 1



Ashvin Sobhee, Sébastien Druon, André Crosnier. Human-Performed Assembly Task Evaluation through a Virtual Operator. ICAR'09: International Conference on Advanced Robotics, Jun 2009, Munich, Germany. pp.1-6. ⟨lirmm-00416027⟩



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