Estimation of Hand Position and Posture using Inertial Sensors and its Application to Robot Teaching System

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  • 慣性センサを用いた手先位置姿勢推定とロボット教示システムへの適用

Abstract

<p>In Japan, low birthrate and aging is progressing rapidly. We need to compensate for the labor shortage, because the working population reduces. As a solution to this problem, the introduction of a robot can be considered. Conventional teaching methods include remote teaching and direct teaching. These teaching methods have problems in terms of difficulty teaching sensibly and safety of the teacher. We extracted the target position / posture of the robot to be taught using motion sensors and verified by simulation before applying the actual machine. As a result, we also found that the accuracy of estimation of trajectory is improved largely by adding some angles to the initial estimated posture along z-axis of which initial posture is estimated by geomagnetic sensor. As a result of the simulation, we found that the hand trajectory estimated from the motion sensor can be applied as the tip trajectory of the manipulator.</p>

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