3 Dimensional Interface and Qualitative Analysis of 3 Dimensional Movement

这项研究的目的是生产一种日常生活中可以在电脑旁边使用的3D输入设备。三维运动包括平移运动和旋转运动。每个动作都有3个自由度。第一点是提供自然的三维旋转输入界面，使用球旋转。利用原型装置，对球自转输入界面进行了多项任务评估。这些实验是用两个商业设备Magellan^&lt；TM&gt；，Spaceball^&lt；TM&gt；进行的。实验表明，我们的3D输入设备可以与商业设备相媲美。球旋转接口是一种很有前途的桌面用三维旋转输入方法。定性分析三维运动的方法分为基于信号变换的分析方法和基于任务语义的分析方法。我们接近后一种分析，并将我们的方法应用于通过人类演示向机器人传授装配任务。演示装配任务由装配零件的三维位置和姿态数据的时序组成，对时序数据进行分析，并使用零件之间的局部接触模型进行定性描述。仿真和真实机器人实验验证了该方法的有效性。

This reseach aims to produce a 3-D input device that can be used beside a computer in daily life. 3-D motion consists of translational movement and rotational movement. Each movement has 3 degree of freedom.The first point is to provide natural 3-D rotation input interface using a ball rotation. Using a prototype device, the ball rotation ball rotation input interface was evaluated with several tasks. The experiments were done with two commercial devices Magellan^<TM>, Spaceball^<TM>. The experiments showed that our 3-D input device is comparable to the commercial devices. The ball rotation interface is promising one for 3-D rotation input for desktop useMethods of analyzing qualitatively 3-D movement are categorized into two types, analysis based on signal transformation methods and analysis based on semantics of tasks. We approached the latter analysis and applied our method to teaching assembly tasks to robots by human demonstrations. The demonstration assembly task consists of time sequence of 3-D position and posture data of assembly parts.The time sequence data is analyzed and is described qualitatively using local contact models between parts. The validity of our approach was testified by simulation and real robots.