Naslov
Mathematical modelling of a redundant anthropomorphic arm (Part I)

Autori
Potkonjak, Veljko ; Krstulović, Ante

Izvornik
Robotics and Autonomous Systems (0921-8890) 9 (1992), 3; 165-170

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Redundancy; Synergy; Robot kinematics

Sažetak
The concept of the prescribed synergy is discussed for some specific classes of a task. It is shown that even after introducing synergy, the mechanism could still be redundant. The concept of distributed positioning is applied to achieve a unique solution of inverse kinematics of redundant mechanisms. It is based on the separation of the required motion into a smooth global and a fast local motion. The task of writing is discussed in detail. The behaviour of the human arm is considered and compared with the behaviour of the robotic arm performing the same task.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA