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The human thumb possesses joint axes with intricate descriptions, which enable the thumb to perform complex motions like opposition. To validate a thumb multibody model kinematically, we firstly study the difference in the volumes of the thumb tip workspace for the maximum range of motion (RoM) and the grasp RoM. We compare the volume difference for five models (with same joint designs but different...
In automated industrial production, the effciency of robotic motions directly affects both the final throughput and the energy consumption. By simulating and optimizing robot trajectories, cycle times and energy consumption can be lowered, or redundant robots can be detected. Here a polynomial basis function trajectory parametrization is presented, which enables direct export to executable robot code,...
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...
The discrete equations of motion derived using a variational principle are particularly attractive to be used in numerical optimal control methods. This is mainly because: i) they exhibit excellent energy behavior, ii) they extend gracefully to systems with holonomic constraints and iii) they admit compact representation of the discrete state space. In this paper we propose the use of sparse finite...
In manufacturing industry, the automation of robot trajectory planning and robot code generation lowers the development and assessment times of new products and models, increasing the flexibility of a robotic production line. This is of increasing importance in a number of industries where new products and new models are constantly being developed. This paper presents a method that automatically generates...
In a production plant for complex assembled products there could be up to several hundred of robots used for handling and joining operations. Thus, improvement in robot motions can have a huge impact on equipment utilization and energy consumption. These are two of the most important aspects of sustainability in a production system. Therefore, this paper presents an algorithm for generating efficient...
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