抄録
There is an increasing need to automate handwork by skilled workers in industry. However, that handwork is usually difficult to express clearly in words. Furthermore, human's motion contains time and spatial perturbations, and this makes the automation even more difficult. In this report, spline functions are applied first to motion-capture data of brush strokes of Japanese calligraphy, and mathematical model of human's technique is established. Then, the isomorphism mapping method is introduced to deal with the time perturbations, and Min-Max norm was applied to deal with the spatial perturbations. Furthermore, a new analytical point of view called controllability is introduced to the mathematical model, and the “target curve” is derived as the goal of the automation. The motion control theory based on controllability is hereby established to automate human's handwork.
