Controller Hierarchies for Efficient Virtual Ergonomic Assessments of Manual Assembly Sequences
Paper i proceeding, 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.

Motion planning

Manual assembly

Digital human modelling

Simulation

Virtual manufacturing

Programming languages

Författare

P. Mårdberg

Fraunhofer-Chalmers centrum for industrimatematik - FCC

Y. Yan

Fraunhofer-Chalmers centrum for industrimatematik - FCC

R. Bohlin

Fraunhofer-Chalmers centrum for industrimatematik - FCC

N. Delfs

Fraunhofer-Chalmers centrum for industrimatematik - FCC

S. Gustafsson

Industrial Path Solutions

Johan Carlson

Chalmers, Produkt- och produktionsutveckling, Produktutveckling

Procedia CIRP

22128271 (ISSN)

Vol. 44 435-440

Ämneskategorier

Maskinteknik

Matematik

Data- och informationsvetenskap

Styrkeområden

Produktion

DOI

10.1016/j.procir.2016.02.084