TY - GEN
T1 - A method for quantitative analysis of accessibility based on path planning
AU - Mei, Shunfeng
AU - Zhou, Dong
AU - Di Zhou, Qi
AU - Guo, Zi Yue
N1 - Publisher Copyright:
© 2019 European Safety and Reliability Association. Published by Research Publishing, Singapore.
PY - 2020
Y1 - 2020
N2 - Accessibility, as the most important qualitative index of maintainability, is the first element of maintainability design analysis. Virtual maintenance technology provides a technical approach for automatic quantitative evaluation of accessibility because of its advantages such as simulating physical environment and effectively obtaining spatial data. However, the development of accessibility analysis and evaluation technology is not mature, the current accessibility analysis and evaluation methods are still qualitative, relying on the subjective observation and experience of the evaluators, there are some problems, such as the evaluation work is time-consuming and laborious, and the evaluation results lack objective data support. This paper proposes a method for quantitative analysis of accessibility based on path planning. In this paper, arm comfort is used as an index to evaluate the accessibility path, and the accessibility evaluation results are obtained. Firstly, comfort is introduced as a constraint to optimize FABRIK algorithm to automatically obtain the final grasp posture and comfort score of the virtual arm with the best comfort, and the quantitative evaluation results are obtained.
AB - Accessibility, as the most important qualitative index of maintainability, is the first element of maintainability design analysis. Virtual maintenance technology provides a technical approach for automatic quantitative evaluation of accessibility because of its advantages such as simulating physical environment and effectively obtaining spatial data. However, the development of accessibility analysis and evaluation technology is not mature, the current accessibility analysis and evaluation methods are still qualitative, relying on the subjective observation and experience of the evaluators, there are some problems, such as the evaluation work is time-consuming and laborious, and the evaluation results lack objective data support. This paper proposes a method for quantitative analysis of accessibility based on path planning. In this paper, arm comfort is used as an index to evaluate the accessibility path, and the accessibility evaluation results are obtained. Firstly, comfort is introduced as a constraint to optimize FABRIK algorithm to automatically obtain the final grasp posture and comfort score of the virtual arm with the best comfort, and the quantitative evaluation results are obtained.
KW - Accessibility
KW - Algorithm optimization
KW - Arm comfort
KW - Arm kinematics model
KW - Path planning
KW - Quantitative analysis
UR - https://www.scopus.com/pages/publications/85089196368
U2 - 10.3850/978-981-11-2724-3_0282-cd
DO - 10.3850/978-981-11-2724-3_0282-cd
M3 - 会议稿件
AN - SCOPUS:85089196368
T3 - Proceedings of the 29th European Safety and Reliability Conference, ESREL 2019
SP - 437
EP - 443
BT - Proceedings of the 29th European Safety and Reliability Conference, ESREL 2019
A2 - Beer, Michael
A2 - Zio, Enrico
PB - Research Publishing Services
T2 - 29th European Safety and Reliability Conference, ESREL 2019
Y2 - 22 September 2019 through 26 September 2019
ER -