The Control of Human Arm Movement Models and Mechanical Constraints

dc.creator	Bennett, David J.
dc.date	2004-10-20T20:22:58Z
dc.date	2004-10-20T20:22:58Z
dc.date	1990-05-01
dc.date.accessioned	2013-10-09T02:48:03Z
dc.date.available	2013-10-09T02:48:03Z
dc.date.issued	2013-10-09
dc.identifier	AITR-1234
dc.identifier	http://hdl.handle.net/1721.1/7031
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	A serial-link manipulator may form a mobile closed kinematic chain when interacting with the environment, if it is redundant with respect to the task degrees of freedom (DOFs) at the endpoint. If the mobile closed chain assumes a number of configurations, then loop consistency equations permit the manipulator and task kinematics to be calibrated simultaneously using only the joint angle readings; endpoint sensing is not required. Example tasks include a fixed endpoint (0 DOF task), the opening of a door (1 DOF task), and point contact (3 DOF task). Identifiability conditions are derived for these various tasks.
dc.format	21188279 bytes
dc.format	8013835 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AITR-1234
dc.title	The Control of Human Arm Movement Models and Mechanical Constraints

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