Motion-Data Processing and Reproduction Based on Motion-Copying System

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2015/09/01

タイトル(英語): Motion-Data Processing and Reproduction Based on Motion-Copying System

著者名: Ko Igarashi (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

著者名(英語): Ko Igarashi (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

キーワード: acceleration control，motion-copying system，motion-data processing，temporal compensation

要約(英語): In the field of industrial manufacturing, there are still many parts processed manually. To overcome this problem, a motion-copying system is proposed to make a robot execute the work of a human. However, processing motion data and reproducing new motion data that can be applied to various scenes are required to extend the versatility of the motion-copying system. In this paper, a temporal compensation method is proposed in order to maintain the reproducibility of a saved human motion because loaded human motion data are different from saved human motion data when motion data is processed by spatial scaling. When saved human motion data is processed by spatial scaling, reaction force of saved human motion data and that of loaded human motion data are different, and the reproducibility decreases. Here, temporal compensation, which is based on temporal scaling, is proposed in order to equalize the reaction force of saved human motion data and that of loaded human motion data. Validity was confirmed by the using experiments that save and reproduce writing motion.

本誌: IEEJ Journal of Industry Applications Vol.4 No.5 （2015）

本誌掲載ページ: 543-549 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/4/5/4_543/_article/-char/ja/