Anthropomorphic robot arm with redundancy in writing task: a kinematic approach
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1996
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This paper presents the analysis of motion of a redundant anthropomorphic robot arm (ARA) during the writing. The modeling is based on the separation of the prescribed movement into two motions: smooth global, and fast local motion, called distributed positioning (DP). The distribution of these motions to arm joints is discussed. DP allows unique solution of the inverse kinematics of redundant mechanisms such as human arm and ARA. We show that robot control can be improved if it is biological analog. The aim of this study is to promote such a hypothesis by using ARA in writing as an example.
Ključne reči:
redundancy / robot arm / distributed positioningIzvor:
Zbornik radova XL ETRAN konferencija, 4-7 juna Budva, 1996, 1996, 251-254Izdavač:
- Belgrade: ETRAN Society
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Institucija/grupa
Mašinski fakultetTY - CONF AU - Potkonjak, Veljko AU - Sinanović, Jelena AU - Lazarević, Mihailo AU - Popović, Mirjana PY - 1996 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6605 AB - This paper presents the analysis of motion of a redundant anthropomorphic robot arm (ARA) during the writing. The modeling is based on the separation of the prescribed movement into two motions: smooth global, and fast local motion, called distributed positioning (DP). The distribution of these motions to arm joints is discussed. DP allows unique solution of the inverse kinematics of redundant mechanisms such as human arm and ARA. We show that robot control can be improved if it is biological analog. The aim of this study is to promote such a hypothesis by using ARA in writing as an example. PB - Belgrade: ETRAN Society C3 - Zbornik radova XL ETRAN konferencija, 4-7 juna Budva, 1996 T1 - Anthropomorphic robot arm with redundancy in writing task: a kinematic approach EP - 254 SP - 251 UR - https://hdl.handle.net/21.15107/rcub_machinery_6605 ER -
@conference{ author = "Potkonjak, Veljko and Sinanović, Jelena and Lazarević, Mihailo and Popović, Mirjana", year = "1996", abstract = "This paper presents the analysis of motion of a redundant anthropomorphic robot arm (ARA) during the writing. The modeling is based on the separation of the prescribed movement into two motions: smooth global, and fast local motion, called distributed positioning (DP). The distribution of these motions to arm joints is discussed. DP allows unique solution of the inverse kinematics of redundant mechanisms such as human arm and ARA. We show that robot control can be improved if it is biological analog. The aim of this study is to promote such a hypothesis by using ARA in writing as an example.", publisher = "Belgrade: ETRAN Society", journal = "Zbornik radova XL ETRAN konferencija, 4-7 juna Budva, 1996", title = "Anthropomorphic robot arm with redundancy in writing task: a kinematic approach", pages = "254-251", url = "https://hdl.handle.net/21.15107/rcub_machinery_6605" }
Potkonjak, V., Sinanović, J., Lazarević, M.,& Popović, M.. (1996). Anthropomorphic robot arm with redundancy in writing task: a kinematic approach. in Zbornik radova XL ETRAN konferencija, 4-7 juna Budva, 1996 Belgrade: ETRAN Society., 251-254. https://hdl.handle.net/21.15107/rcub_machinery_6605
Potkonjak V, Sinanović J, Lazarević M, Popović M. Anthropomorphic robot arm with redundancy in writing task: a kinematic approach. in Zbornik radova XL ETRAN konferencija, 4-7 juna Budva, 1996. 1996;:251-254. https://hdl.handle.net/21.15107/rcub_machinery_6605 .
Potkonjak, Veljko, Sinanović, Jelena, Lazarević, Mihailo, Popović, Mirjana, "Anthropomorphic robot arm with redundancy in writing task: a kinematic approach" in Zbornik radova XL ETRAN konferencija, 4-7 juna Budva, 1996 (1996):251-254, https://hdl.handle.net/21.15107/rcub_machinery_6605 .