Recently, extensive research has been carried out on the preservation of human skill, a promising means of education and training. In the future, construction of motion database networks is required to preserve and utilize various skills. However, large-capacity data storage devices are required to save as many motion patterns as possible. Data compression methods based on signal processing are typically employed for data reduction. These methods, however, involve extensive and complex calculation and afford poor motion reproducibility. This paper presents a system for reducing motion data; this system has been designed without considering data compression methods. The proposed system is defined as a motion assembly system. During motion saving, the motion data measured by a master-slave system are saved and decomposed into a grasping mode and a manipulation mode. During motion reproduction, the data corresponding to the reproduced motion are generated by the assembly of the saved grasping and manipulation modes. Various motion patterns are reproduced by using some functional elements.
This paper defines "modal space disturbance", which is the position error of between environment in real world and virtual system in modal space. The virtual system motions are abstracted by using mode quarry matrix. In addition, this paper proposes "modal space disturbance observer" which estimates modal space disturbance. An estimate value of modal space disturbance is calculated, it becomes possible to compensate modal space disturbance. Moreover, when propose method is used, it is possible to compensate the position error of between unknown system and environment without calculating complicated arrangement of system. The experimental results show the viability of the proposed method.
A motion copying system is important to preserve skills of expert engineers. This paper proposes advanced motion copying system of multi degree-of-freedom. The multi in this paper means infinite number degree-offreedom of system and human. The proposed method saves virtual force and position informations of the virtual systems. If the infinite number person saves independent motions of the infinite number virtual systems, the proposed method realizes infinite number advanced motions. The proposed method allows for loading the best or new skills because we can consider the advantage of each independent motion. The experimental results show the viability of the proposed method.
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