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What Do We Observe When We Equip a Forestry Crane with Motion Sensors?

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Figure

Fig. 1 Forwarder crane; it is a hydraulic manipulator with four de-grees of freedom, specified in this graph as the slewing, inner boom, outer boom, telescope; it holds an end-effector attached at the boom-tip, serving as a tool to grab logs, also called gripper; includ-ing all electronic hardware, this particular experimental platform is the predecessor of a current commercial product of one of our companies (Cranab AB 2011)
Fig. 2 Left: driver’s view and machine placing with respect to the logs; Right: crane boom-tip motion patterns for grabbing and releasing trees; 1) Retracting path to the load bunk; 2) Expanding path from the load bunk (in these figures, the paths are drawn as examples to show the direction of the motion; usually the retracting path is higher than the expanding path, because the crane needs to avoid hitting the log-bunk when holding logs; the expanding path, however, can be much lower, because the crane can go back to the side crossing through the empty spaces between the log-bunk poles)
Table 1 Limits on joint positions and velocities
Fig. 4 Top view of the machine; the black dots represent the logs on level ground; the reference frame is centered as shown in Fig
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