Inertia Compensation of a Motion Copying System for Dexterous Object Handling

カテゴリ: 研究会(論文単位)

論文No: IIC17010

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2017/11/17

タイトル(英語): Inertia Compensation of a Motion Copying System for Dexterous Object Handling

著者名: Mahawaththe Kodithuwakkuge(Yokohama National University),Chathuranga Dinesh( Kanagawa Institute of Industrial Science and Technology),Chinthaka Shimono(Yokohama National University),Tomoyuki( Kanagawa Institute of Industrial Science and Technology)

著者名(英語): Chathuranga Dinesh(Yokohama National University),Chinthaka Mahawaththe( Kanagawa Institute of Industrial Science and Technology),Kodithuwakkuge Tomoyuki(Yokohama National University),Shimono( Kanagawa Institute of Industrial Science and Technology)

キーワード: Motion Copying|Inertia Estimation| Motion Reproduction|Motion Copying|Inertia Estimation| Motion Reproduction

要約(日本語): Motion copying systems are using for recording and reproduction of human motion. Available Motion copying systems are not giving precise performances when there is a difference in between motion saving and motion reproduction phases. Most of the motion copying systems are only using to perform repetitive fixed objectives because robustness of the motion is restrained due to carrying objects and tools. It is hard to perform a proper motion reproduction when the inertia of the system changed in-between motion saving phase and motion reproduction phase due to the grasping object. It is important to estimate inertia in order to extend the applications of motion reproduction systems. Precise inertia estimation of a motion copying system is a challenging task practically with different grasping objects. This paper presents inertia estimation and compensation in a motion copying system while reproducing the recorded motion with different objects. The inertia of the grasped object is estimating using simple harmonic motion based estimation method. The performance of the proposed method has been discussed and verified using practical experimental results.

要約(英語): Motion copying systems are using for recording and reproduction of human motion. Available Motion copying systems are not giving precise performances when there is a difference in between motion saving and motion reproduction phases. Most of the motion copying systems are only using to perform repetitive fixed objectives because robustness of the motion is restrained due to carrying objects and tools. It is hard to perform a proper motion reproduction when the inertia of the system changed in-between motion saving phase and motion reproduction phase due to the grasping object. It is important to estimate inertia in order to extend the applications of motion reproduction systems. Precise inertia estimation of a motion copying system is a challenging task practically with different grasping objects. This paper presents inertia estimation and compensation in a motion copying system while reproducing the recorded motion with different objects. The inertia of the grasped object is estimating using simple harmonic motion based estimation method. The performance of the proposed method has been discussed and verified using practical experimental results.

原稿種別: 英語

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