In the field of industrial processing, there are still many parts performed manually. For this problem, a motion-copying system was proposed to put into practical use to create the labor force instead of human. Moreover, motion data that can be processing and reproducing are needed to extend the viability of motion-copying system. In this paper, a temporal compensation method is proposed in order to maintain the reproducibility of saved human motion. Reaction force of loaded motion data is different from saved one when the data is processed by a spatial scaling. Here, a temporal compensation that is based on the variable temporal scaling is introduced in order to make equal reaction force of saved human motion data and that of loaded human motion data. The temporal processing of motion data is based on the first-order hold interpolation. It can process the motion data and solve the resample problem that occurs when discrete motion data is treated at the same time. Validity was confirmed by the experiments.
|Title of host publication||IECON Proceedings (Industrial Electronics Conference)|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|Volume||40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014|
|Publication status||Published - 2014 Feb 24|
ASJC Scopus subject areas
- Electrical and Electronic Engineering