The Control of Human Arm Movement Models and Mechanical Constraints
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...
| Main Author: | |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/7031 |
| _version_ | 1826206054644449280 |
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| author | Bennett, David J. |
| author_facet | Bennett, David J. |
| author_sort | Bennett, David J. |
| collection | MIT |
| 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. |
| first_indexed | 2024-09-23T13:23:22Z |
| id | mit-1721.1/7031 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:23:22Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/70312019-04-10T11:52:20Z The Control of Human Arm Movement Models and Mechanical Constraints Bennett, David J. 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. 2004-10-20T20:22:58Z 2004-10-20T20:22:58Z 1990-05-01 AITR-1234 http://hdl.handle.net/1721.1/7031 en_US AITR-1234 21188279 bytes 8013835 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Bennett, David J. The Control of Human Arm Movement Models and Mechanical Constraints |
| title | The Control of Human Arm Movement Models and Mechanical Constraints |
| title_full | The Control of Human Arm Movement Models and Mechanical Constraints |
| title_fullStr | The Control of Human Arm Movement Models and Mechanical Constraints |
| title_full_unstemmed | The Control of Human Arm Movement Models and Mechanical Constraints |
| title_short | The Control of Human Arm Movement Models and Mechanical Constraints |
| title_sort | control of human arm movement models and mechanical constraints |
| url | http://hdl.handle.net/1721.1/7031 |
| work_keys_str_mv | AT bennettdavidj thecontrolofhumanarmmovementmodelsandmechanicalconstraints AT bennettdavidj controlofhumanarmmovementmodelsandmechanicalconstraints |