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On a human-arm-like mechanical manipulator

Published online by Cambridge University Press:  09 March 2009

A. Hemami
A. Hemami
Affiliation:
Department of Mechanical Engineering, Concordia University, SGW Campus-Annex B308, 1455 de Maisonneuve Blvd. West, Montreal, Quebec H3G 1M8 (Canada)
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Summary

This paper investigates the kinematics and motion of a human arm as a manipulator with seven degrees of freedom, and how to deal with the extra degree of freedom that exists. It proposes that a change of configuration be divided into a sequence of motions where each time one of the joints is locked. It then presents a general technique to solve inverse kinematic equations of the different reduced models that arise.

Information

Type
Article
Information
Robotica , Volume 5 , Issue 1 , January 1987, pp. 23 - 28
Copyright
Copyright © Cambridge University Press 1987

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