• DocumentCode
    1993970
  • Title

    Study and enumeration of singular configurations for the kinematic model of human arm

  • Author

    Cheng, Li-Ping ; Kazerounian, Kazem

  • Author_Institution
    Dept. of Mech. Eng., Connecticut Univ., Storrs, CT, USA
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    3
  • Lastpage
    4
  • Abstract
    In this paper, a seven DOF anthropomorphic arm model defined by zero-position notation is used to study the kinematically singular configurations of this arm. The important findings of this study are: (1) A relationship is shown between the rank of Jacobian matrix and the number of corresponding reciprocal screws for singular configurations of any three dimensional manipulator arm. (2) By investigating the geometrical positions of this model, its various singular configurations are identified
  • Keywords
    Jacobian matrices; manipulator kinematics; physiological models; 3D manipulator arm; 7-DOF anthropomorphic arm model; Jacobian matrix rank; geometrical positions; human arm; kinematic model; number of reciprocal screws; singular configurations; uncertainty configuration; zero-position notation; Anthropomorphism; Arm; Fasteners; Humans; Jacobian matrices; Joints; Kinematics; Mechanical engineering; Null space; Solid modeling;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Bioengineering Conference, 2000. Proceedings of the IEEE 26th Annual Northeast
  • Conference_Location
    Storrs, CT
  • Print_ISBN
    0-7803-6341-8
  • Type

    conf

  • DOI
    10.1109/NEBC.2000.842350
  • Filename
    842350
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1993970