TY - GEN
T1 - An approach to success-based data compression considering position/force task
AU - Okano, Toshiaki
AU - Murakami, Toshiyuki
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/2
Y1 - 2020/2
N2 - The number of robots has been increasing and they would widely conduct activities in a variety of situations. The amounts of motion data distribution would also become larger and larger: therefore, the amounts of each motion data are expected to be compressed. The compression of motion data has been widely discussed, but this study focuses on the success-based approach and considering a position/force task. Since the purpose of machine automation is to conduct some tasks, the data can be compressed in the extent that the task is safely and successfully completed. The sampling time of command loading is changed for reducing the amount of motion data. The algorithm for investigating the required sampling times in each motion period and each degrees-of-freedom is developed and applied, and the appropriate values were experimentally obtained. The data compression of motion commands was confirmed as well as the task success based on its compressed motion command.
AB - The number of robots has been increasing and they would widely conduct activities in a variety of situations. The amounts of motion data distribution would also become larger and larger: therefore, the amounts of each motion data are expected to be compressed. The compression of motion data has been widely discussed, but this study focuses on the success-based approach and considering a position/force task. Since the purpose of machine automation is to conduct some tasks, the data can be compressed in the extent that the task is safely and successfully completed. The sampling time of command loading is changed for reducing the amount of motion data. The algorithm for investigating the required sampling times in each motion period and each degrees-of-freedom is developed and applied, and the appropriate values were experimentally obtained. The data compression of motion commands was confirmed as well as the task success based on its compressed motion command.
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U2 - 10.1109/ICIT45562.2020.9067162
DO - 10.1109/ICIT45562.2020.9067162
M3 - Conference contribution
AN - SCOPUS:85084138597
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 363
EP - 368
BT - Proceedings - 2020 IEEE International Conference on Industrial Technology, ICIT 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st IEEE International Conference on Industrial Technology, ICIT 2020
Y2 - 26 February 2020 through 28 February 2020
ER -