Page 81 - Mechatronics for Safety, Security and Dependability in a New Era

Ch14-I044963.fm Page 65 Tuesday, August 1, 2006 12:50 PM
Tuesday,
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August 1,2006
PM
12:50
Ch14-I044963.fm
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H r : Position and angle of a right hand, Hi: Position and angle of a left hand, g: Function to generate a
posture based on inverse kinematics.
2) 3-D object for workplace
The layout of 3-D object for workplace is defined as L = ( L o/, L 02, ... , L on). Lq/ = (XQJ, yoj, ZQ/, OxOj,
dyOj, QJ): Layout of 3-D object Oj, n: Number of 3-D objects.
0 :
3.2 Generation of status of manual operation process
The Scene, when the computer mannequin does a task, is called as a task scene. The status of manual
operation process of a task scene k is defined as equation 1.
W A = W o + E(AL,.,AP,.,A? ;.) m
i=\,k v '
AL ; : Change of layout from task scene z'-lto i
AP,: Change of posture of computer mannequin M from task scene /-I to i
Ati: Time from task scene ;-lto / calculated from T k ( Motion code for task description of a task scene
k) and D n (Motion code for task difficulty of a task scene k).

hi order to make a simulation model, task scenes W* are generated through modeling interface to teach
the posture of the computer mannequin and to build, place, and move objects. The generated task
scenes W^ are recorded. The recorded task scenes from Wo to W enci are divided by tunit (e.g. 1/30
second), which is a unit of time slice on animation, in order to generate (AL,, AP,, tunit ) as an
animation file. The upper part of figure 2 shows the conventional system structure.

3.3 Proposed method to reuse status-generating procedure

hi addition to W*, the layout of 3-D objects, L*, the posture, P*, motion code for task description, Tk,
motion code for task difficulty, D n, target object of task T t, On, and, positions and angles of both
hands, H,* and H^, are recorded all together as the status-generating procedure record data, W**.

I
W 4*=(W fo * P,, T h , O n, U rl (2)
Figure 2 shows the developed system structure, hi order to reuse the previously recorded W^* to
regenerate W**\ it is necessary to choose reusable data of W**. Figure 3 shows the algorithm for
judging reuse of W**. The recorded data are fully reused in the case a) and e), and partly reused in the
case c) and d). Therefore, the remodeling effort can be reduced with this algorithm.
W /( =W 0 +
Data file of statuses of )ata file for animatioi
manual operation process
Initial status -Reuse T k, AL s and AP;
W ((—(L,,. P,,, 0) • < ^ Check category of r r ^
-Change D T, according to need
Change of status "Tchange posture
per time unit
(AI.,, AP, / )
Change of status
(AL (i . AP, A i t) dcliny
Set Motion code for
Task description '/, A i k= MTMCI^, l),. t)
f Evaluation of overburder
Task difficulty D n
-Set ll r , or II I ( on changed position oi. t
Conventional system structure by reusing the relation
between ll r; or 11^, and c;/, in w, +
-Generate posture with gi\r S^, H r . H,
Developed structure in this study -Change D n according to need
Judging reusability
-Generate A l' r ' by reusing l' r
-Generate A I , k' by reusing I (
Status-generating procedure data file -Change D,. according to need
\V t * ^(Wj. Lj. Pj, T k, 8 L D ri , On. H K or H M)
() :i= Target object of task 1\ -Reuse Al^.and AP,.
-Change iJ,, according to need
Figure 2: Developed system structure Figure 3: Algorithm for judging reuse