Trajectory Generation with Dynamic Programming for End-Effector Sway Damping of Forestry Machine
Iman Jebellat,Inna Sharf,Iman Jebellat,Inna Sharf
When a robot end-effector is attached to the arm via passive joints, undesirable end-effector sway will occur. In a forestry crane, such as the log-loading or harvesting machine, this sway is problematic as it hinders the efficiency and also can harm the machine and environment. Here, we tackle the sway problem of the forestry forwarder by proposing a methodology for generating anti-sway trajector...
