A Real-time Motion Data Reduction and Restoration Compatible with Robot's Physical Limits

Title
A Real-time Motion Data Reduction and Restoration Compatible with Robot's Physical Limits
Authors
김도익박정민홍석민
Keywords
data reduction; restoration; real time; teleoperation; Convolution Interpolation; Hardware Limit
Issue Date
2014-09
Publisher
International Conference on Informatics in Control, Automation and Robotics
Citation
, 360-367
Abstract
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.
URI
http://pubs.kist.re.kr/handle/201004/48390
Appears in Collections:
KIST Publication > Conference Paper
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