Human-Performed Assembly Task Evaluation through a Virtual Operator - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Communication Dans Un Congrès Année : 2009

Human-Performed Assembly Task Evaluation through a Virtual Operator

Résumé

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.
Fichier principal
Vignette du fichier
sobhee_icar2009.pdf (645.28 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

lirmm-00416027 , version 1 (11-09-2009)

Identifiants

  • HAL Id : lirmm-00416027 , version 1

Citer

Ashvin Sobhee, Sébastien Druon, André Crosnier. Human-Performed Assembly Task Evaluation through a Virtual Operator. ICAR 2009 - 14th International Conference on Advanced Robotics, Jun 2009, Munich, Germany. pp.1-6. ⟨lirmm-00416027⟩
111 Consultations
140 Téléchargements

Partager

More