An approach to success-based data compression considering position/force task

The number of robots has been increasing and they would widely conduct activities in a variety of situations. The amounts of motion data distribution would also become larger and larger: therefore, the amounts of each motion data are expected to be compressed. The compression of motion data has been widely discussed, but this study focuses on the success-based approach and considering a position/force task. Since the purpose of machine automation is to conduct some tasks, the data can be compressed in the extent that the task is safely and successfully completed. The sampling time of command loading is changed for reducing the amount of motion data. The algorithm for investigating the required sampling times in each motion period and each degrees-of-freedom is developed and applied, and the appropriate values were experimentally obtained. The data compression of motion commands was confirmed as well as the task success based on its compressed motion command.