Anthropomorphic robot arm with redundancy in writing task: a kinematic approach

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.