Modeling synergy of anthropomorphic robot arm in the writing task
Само за регистроване кориснике
1996
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
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. DP 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). The enhance capabilites of robots, new control schemes are necessary. 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.
Кључне речи:
synergy / modeling / robot arm / writing taskИзвор:
Proceedings of 2nd ECPD International Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, Austria, 26-28 Sept. 1996, 1996, 541-546Издавач:
- Institute of Robotics and Mechatronics /Institut für Dynamik der Flugsysteme
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Potkonjak, Veljko AU - Popović, Mirjana AU - Lazarević, Mihailo AU - Sinanović, Jelena PY - 1996 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6615 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. DP 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). The enhance capabilites of robots, new control schemes are necessary. 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 - Institute of Robotics and Mechatronics /Institut für Dynamik der Flugsysteme C3 - Proceedings of 2nd ECPD International Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, Austria, 26-28 Sept. 1996 T1 - Modeling synergy of anthropomorphic robot arm in the writing task EP - 546 SP - 541 UR - https://hdl.handle.net/21.15107/rcub_machinery_6615 ER -
@conference{ author = "Potkonjak, Veljko and Popović, Mirjana and Lazarević, Mihailo and Sinanović, Jelena", 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. DP 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). The enhance capabilites of robots, new control schemes are necessary. 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 = "Institute of Robotics and Mechatronics /Institut für Dynamik der Flugsysteme", journal = "Proceedings of 2nd ECPD International Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, Austria, 26-28 Sept. 1996", title = "Modeling synergy of anthropomorphic robot arm in the writing task", pages = "546-541", url = "https://hdl.handle.net/21.15107/rcub_machinery_6615" }
Potkonjak, V., Popović, M., Lazarević, M.,& Sinanović, J.. (1996). Modeling synergy of anthropomorphic robot arm in the writing task. in Proceedings of 2nd ECPD International Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, Austria, 26-28 Sept. 1996 Institute of Robotics and Mechatronics /Institut für Dynamik der Flugsysteme., 541-546. https://hdl.handle.net/21.15107/rcub_machinery_6615
Potkonjak V, Popović M, Lazarević M, Sinanović J. Modeling synergy of anthropomorphic robot arm in the writing task. in Proceedings of 2nd ECPD International Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, Austria, 26-28 Sept. 1996. 1996;:541-546. https://hdl.handle.net/21.15107/rcub_machinery_6615 .
Potkonjak, Veljko, Popović, Mirjana, Lazarević, Mihailo, Sinanović, Jelena, "Modeling synergy of anthropomorphic robot arm in the writing task" in Proceedings of 2nd ECPD International Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, Austria, 26-28 Sept. 1996 (1996):541-546, https://hdl.handle.net/21.15107/rcub_machinery_6615 .