A Real-time Motion Data Reduction and Restoration Compatible with Robot's Physical Limits
- A Real-time Motion Data Reduction and Restoration Compatible with Robot's Physical Limits
- 김도익; 박정민; 홍석민
- data reduction; restoration; real time; teleoperation; Convolution Interpolation; Hardware Limit
- Issue Date
- International Conference on Informatics in Control, Automation and Robotics
- , 360-367
- In order to control a robot, motion data obtained from various interface devices such as haptic and teleoperating interfaces, and a motion capture system, or from predefined parametric equations are needed. It is hard to store and transmit the data because of their high control frequency and synchronization problem. In addition, usually, all these data are only for one target robot system, i.e., it is hard to use them to other robot system with different hardware limits. In order to solve the problems, the reduction of the original data is conducted with two stage magnitude quantization and the restoration without violating the hardware limits, such as maximum velocity, acceleration, etc., is conducted with the convolution interpolation, in this paper.
The proposed method can be used in on-line data transmission and for off-line data storage.
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