QUANTITATIVE EXAMINATION OF TRAJECTORY PLANNING CRITERIA BASED ON MANY DATA OF TRAJECTORIES (II)

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Other Title
  • 多数の軌道データに基づいた軌道計画規範の定量的検討(2)

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Description

We quantitatively compared actual point to point planer movements constrained to pass through a via-point to the movements predicted by three models ; 1)minimum hand jerk model, 2)minimum angle jerk model and 3)minimum torque change model. We defined the difference between the tangential velocity of unconstrained point to point movement and that of via-point movement as a distortion of tangential velocity. The distortion of tangential velocity varied with workspace and whether the position of the via-point was set near or far from body. Furthermore, we studied how learning effected distortion as the via-point varied in distance from the center midline separating the start and end points. If the via-point was at approximately the center between start and end point, then learning caused the tangential velocity profile to approach that found in unconstrained point to point movement. However, if the via-point was placed near the body, then the learned movements had a velocity profile that was dissimilar with that found in unconstrained point to point movements. This pattern of results is similar with that predicted by minimum torque change model.

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Details 詳細情報について

  • CRID
    1572543027353569536
  • NII Article ID
    110003232900
  • NII Book ID
    AN10091178
  • Text Lang
    ja
  • Data Source
    • CiNii Articles

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