The Control of Human Arm Movement Models and Mechanical Constraints

Title: en_US The Control of Human Arm Movement Models and Mechanical Constraints
Creator: en_US Bennett, David J.
Date: 2004-10-20T20:22:58Z
Date Available: 2004-10-20T20:22:58Z
Date Issued: en_US 1990-05-01
Identifier: en_US AITR-1234
uri: http://hdl.handle.net/1721.1/7031
Abstract: en_US A serial-link manipulator may form a mobile closed kinematic chain when interacting with the environment, if it is redundant with respect to the task degrees of freedom (DOFs) at the endpoint. If the mobile closed chain assumes a number of configurations, then loop consistency equations permit the manipulator and task kinematics to be calibrated simultaneously using only the joint angle readings; endpoint sensing is not required. Example tasks include a fixed endpoint (0 DOF task), the opening of a door (1 DOF task), and point contact (3 DOF task). Identifiability conditions are derived for these various tasks.
Extent: 21188279 bytes; 8013835 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1234