Controller Hierarchies for Efficient Virtual Ergonomic Assessments of Manual Assembly Sequences
Paper in proceedings, 2016

A novel framework for manikin motion planning has been implemented to reduce the time needed to perform virtual ergonomic assessments of manual assembly sequences. The user feeds high level instructions into a hierarchical controller system. Depending on the state of the manikin and the objects in the environment, the controllers compute a sequence of low level instructions interpreted as path planning instances for the manikin. The result is automatically generated collision-free and ergonomically sound motions that accomplish the assembly tasks. The framework is demonstrated on relevant cases from the industry and the reduction in manual simulation preparation time is proven.

Programming languages


Manual assembly

Motion planning

Virtual manufacturing

Digital human modelling


P. Mårdberg

Fraunhofer-Chalmers Centre

Y. Yan

Fraunhofer-Chalmers Centre

R. Bohlin

Fraunhofer-Chalmers Centre

N. Delfs

Fraunhofer-Chalmers Centre

S. Gustafsson

Industrial Path Solutions

Johan Carlson

Chalmers, Product and Production Development, Product Development

Procedia CIRP

22128271 (ISSN)

Vol. 44 435-440

Subject Categories

Mechanical Engineering


Computer and Information Science

Areas of Advance




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