S1310202 モーションコピーシステムに基づく動作データの3次元加工([S131-02]先進工作機械技術(2),生産加工・工作機械部門)

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  • 五十嵐 功
    慶應義塾大学大学院理工学研究科総合デザイン工学専攻
  • 桂 誠一郎
    慶應義塾大学理工学部システムデザイン工学科

書誌事項

タイトル別名
  • S1310202 Three-Dimensional Processing of Motion-Data Based on Motion-Copying System

抄録

In the fiel of industrial processing, there are still many parts performed manually. For this problem, a motion-copying system is valid to make robots deputize work of human. Moreover, processing saved motion data and reproducing new motion data that can be applied to various scenes are called for to extend the versatility of a motion-copying system. However, when saved human motion data is processed by a spatial scaling, a reaction force of saved human motion data and that of loaded human motion data are different, and a reproducibility of the loaded motion declines. In this paper, a temporal compensation method for the spatial scaling of multi-degree of freedom robot is proposed in order to maintain the reproducibility of saved human motion. This method considers about a time-varying axis that always faces toward the direction of motion and about the time-varying temporal scaling for the time-varying axis. This method can be applied to every multi-degree of freedom robot regardless of the number of the motor. Validity was confirme by experiments using a three-degree of freedom robot.

収録刊行物

  • 年次大会

    年次大会 2014 (0), _S1310202--_S1310202-, 2014

    一般社団法人 日本機械学会

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