Redundancy problem in writing: From human to anthropomorphic robot arm
Само за регистроване кориснике
1998
Чланак у часопису (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
This paper presents the analysis of motion of a redundant anthropomorphic arm 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. It is based on the inertial properties and actuation capabilities of joints. The approach suggested allows unique solution of the inverse kinematics of redundant mechanisms such as human arm and anthropomorphic robot arm. Distributed positioning is an inherent property of biological systems, Humans, when writing, as shown in literature and in our earlier work control their proximal joints, while the movement of distal joints follow them (synergy). To enhance capabilities of robots, new control schema are necessary, We show that robot control can be improved if it is biological analog, The major aim of this study is to promote such a hypothesis by using anthropomorphic rob...ot arm in writing as an example.
Кључне речи:
writing / redundancy / legibility / distributed positioning / degrees of freedomИзвор:
Ieee Transactions on Systems Man and Cybernetics Part B-Cybernetics, 1998, 28, 6, 790-805Издавач:
- Ieee-Inst Electrical Electronics Engineers Inc, Piscataway
DOI: 10.1109/3477.735389
ISSN: 1083-4419
PubMed: 18255998
WoS: 000077156000004
Scopus: 2-s2.0-0032300069
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Potkonjak, V AU - Popović, M AU - Lazarević, Mihailo AU - Sinanović, J PY - 1998 UR - https://machinery.mas.bg.ac.rs/handle/123456789/168 AB - This paper presents the analysis of motion of a redundant anthropomorphic arm 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. It is based on the inertial properties and actuation capabilities of joints. The approach suggested allows unique solution of the inverse kinematics of redundant mechanisms such as human arm and anthropomorphic robot arm. Distributed positioning is an inherent property of biological systems, Humans, when writing, as shown in literature and in our earlier work control their proximal joints, while the movement of distal joints follow them (synergy). To enhance capabilities of robots, new control schema are necessary, We show that robot control can be improved if it is biological analog, The major aim of this study is to promote such a hypothesis by using anthropomorphic robot arm in writing as an example. PB - Ieee-Inst Electrical Electronics Engineers Inc, Piscataway T2 - Ieee Transactions on Systems Man and Cybernetics Part B-Cybernetics T1 - Redundancy problem in writing: From human to anthropomorphic robot arm EP - 805 IS - 6 SP - 790 VL - 28 DO - 10.1109/3477.735389 ER -
@article{ author = "Potkonjak, V and Popović, M and Lazarević, Mihailo and Sinanović, J", year = "1998", abstract = "This paper presents the analysis of motion of a redundant anthropomorphic arm 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. It is based on the inertial properties and actuation capabilities of joints. The approach suggested allows unique solution of the inverse kinematics of redundant mechanisms such as human arm and anthropomorphic robot arm. Distributed positioning is an inherent property of biological systems, Humans, when writing, as shown in literature and in our earlier work control their proximal joints, while the movement of distal joints follow them (synergy). To enhance capabilities of robots, new control schema are necessary, We show that robot control can be improved if it is biological analog, The major aim of this study is to promote such a hypothesis by using anthropomorphic robot arm in writing as an example.", publisher = "Ieee-Inst Electrical Electronics Engineers Inc, Piscataway", journal = "Ieee Transactions on Systems Man and Cybernetics Part B-Cybernetics", title = "Redundancy problem in writing: From human to anthropomorphic robot arm", pages = "805-790", number = "6", volume = "28", doi = "10.1109/3477.735389" }
Potkonjak, V., Popović, M., Lazarević, M.,& Sinanović, J.. (1998). Redundancy problem in writing: From human to anthropomorphic robot arm. in Ieee Transactions on Systems Man and Cybernetics Part B-Cybernetics Ieee-Inst Electrical Electronics Engineers Inc, Piscataway., 28(6), 790-805. https://doi.org/10.1109/3477.735389
Potkonjak V, Popović M, Lazarević M, Sinanović J. Redundancy problem in writing: From human to anthropomorphic robot arm. in Ieee Transactions on Systems Man and Cybernetics Part B-Cybernetics. 1998;28(6):790-805. doi:10.1109/3477.735389 .
Potkonjak, V, Popović, M, Lazarević, Mihailo, Sinanović, J, "Redundancy problem in writing: From human to anthropomorphic robot arm" in Ieee Transactions on Systems Man and Cybernetics Part B-Cybernetics, 28, no. 6 (1998):790-805, https://doi.org/10.1109/3477.735389 . .