id	author	title	date	pages	extension	mime	words	sentences	flesch	summary	cache	txt
work_3dobvgv6hjcjzkwylztzizzpki	Staffan Björkenstam	Enhancing Digital Human Motion Planning of Assembly Tasks Through Dynamics and Optimal Control	2016	6	.pdf	application/pdf	4367	571	73	Enhancing digital human motion planning of assembly tasks through dynamics and optimal control investigate the importance of modeling dynamics when planning for manual assembly operations. motion planning problem using the Discrete Mechanics and Optimal Control (DMOC) method, which makes it possible to optimize with respect to First, two industrial cases are simulated using a quasi-static inverse kinematics solver, demonstrating problems where Then, the DMOC-method is used to solve for optimal trajectories of a lifting operation with dynamics. Keywords: Assembly; Digital human modeling; Ergonomy; Dynamics; Optimal control As a consequence, ergonomics studies are time consuming and are mostly done for static poses, not for full assembly The dynamic motion planning problem is stated as an optimal kinematic problems, both quasi-static and with dynamics. discrete equations of motion, the resulting optimization problem discrete optimal control problem: Minimize Here we compute trajectories for the manikin using the optimal control approach described Section 2.4.	./cache/work_3dobvgv6hjcjzkwylztzizzpki.pdf	./txt/work_3dobvgv6hjcjzkwylztzizzpki.txt