Motion-data processing and reproduction based on motion-copying system

Ko Igarashi, Seiichiro Katsura

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)543-549
Number of pages7
JournalIEEJ Journal of Industry Applications
Volume4
Issue number5
DOIs
Publication statusPublished - 2015

Keywords

  • Acceleration control
  • Motion-copying system
  • Motion-data processing
  • Temporal compensation

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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