手先位置頻度マップを用いた作業傾向の分析と操作技能の推定

Abstract

This paper proposes a framework for analyzing comprehensive work tendency and operational skills using a frequency plot map of the end-point of a manipulator as a fundamental study of work analysis using long-term data for human-operated work machines. The proposed framework creates a two-dimensional end-point plot map with its origin fixed at the yaw joint of the manipulator to deal with arbitrary usage conditions. It then extracts arbitrary characteristics by using hierarchical feature extraction filters defined by feature values such as movement, and load. Finally, it quantifies the filtered map by gridding and normalization to visually grasp its frequency distribution.