慣性センサを用いたリアルタイム運動計測システムの構築とロボット教示システムへの適用

抄録

In Japan, low birthrate and aging is progressing rapidly. It is necessary to compensate for the labor shortage, because the working population reduces. As a solution to this problem, the introduction of a robot can be considered. Conventional teaching methods include remote teaching and direct teaching. These teaching methods have problems in terms of difficulty teaching sensibly and safety of the teacher. We extracted the target position / posture of the robot to be taught using motion sensors and verified by simulation before applying the actual machine. As a result, the real-time motion measurement system constructed in this research was found to be applicable to robot teaching using simulation. However, since the movement of the shoulder was not taken into consideration, there was a difference in position estimation.