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

Doik Kim, Jung-Min Park, Seokmin Hong

2014

Abstract

In order to control a robot, motion data obtained from various interface devices such as haptic and tele-operating 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.

Paper Citation

in Harvard Style

Kim D., Park J. and Hong S. (2014). A Real-time Motion Data Reduction and Restoration Compatible with Robot’s Physical Limits . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 360-367. DOI: 10.5220/0005041303600367

in Bibtex Style

@conference{icinco14,
author={Doik Kim and Jung-Min Park and Seokmin Hong},
title={A Real-time Motion Data Reduction and Restoration Compatible with Robot’s Physical Limits},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={360-367},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005041303600367},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Real-time Motion Data Reduction and Restoration Compatible with Robot’s Physical Limits
SN - 978-989-758-040-6
AU - Kim D.
AU - Park J.
AU - Hong S.
PY - 2014
SP - 360
EP - 367
DO - 10.5220/0005041303600367