Motion Generation Based on Physical Property Estimation in Motion Copy System

摘要

The motion copy system (MCS) reproduces motions based on recorded motion data. The MCS can reproduce recorded motions with the contribution of position and force control, even for minor environmental changes. Therefore, it has the potential to preserve professional skills and reproduce movements repeatedly. However, there was a problem that it could not be reproduced when the environment was significantly different. Therefore, in this paper, we attempt to sequentially estimate the object's physical properties and modify the playback data appropriately. In the experiment results, the MCS and the proposed method were compared by a pick-and-place motion using a 5-DOF robot arm. The results showed that the proposed method had the highest success rate.