DocumentCode
2287080
Title
Biologically motivated servomechanism kinematic models
Author
Zein-Sabatto, Saleh ; Bodruzzaman, Mohaminad ; Kuschewski, John G.
Author_Institution
Center of Neural Eng., Tennessee State Univ., Nashville, TN, USA
fYear
1995
fDate
26-29 Mar 1995
Firstpage
165
Lastpage
168
Abstract
Forward and inverse kinematic models for a human like (HL) robot joint are developed and used to simulate the behavior of the joint. The forward kinematic model of the HL joint is found simply to consist of two rotational motions about fixed coordinate frames. The inverse tangent (atan2) function technique is used to develop an inverse kinematic model of the HL joint. This technique also prevents singular values from occurring in the calculations. Simulation results of the forward kinematic model are presented
Keywords
matrix algebra; robot kinematics; servomechanisms; biologically motivated servomechanism kinematic models; forward kinematic models; human like robot joint; inverse kinematic models; inverse tangent function technique; Biological system modeling; Control system synthesis; Humanoid robots; Humans; Kinetic theory; Neurocontrollers; Robot kinematics; Servomechanisms; Servomotors; Shafts;
fLanguage
English
Publisher
ieee
Conference_Titel
Southeastcon '95. Visualize the Future., Proceedings., IEEE
Conference_Location
Raleigh, NC
Print_ISBN
0-7803-2642-3
Type
conf
DOI
10.1109/SECON.1995.513078
Filename
513078
Link To Document