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
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;
Conference_Titel :
Bioengineering Conference, 2000. Proceedings of the IEEE 26th Annual Northeast
Conference_Location :
Storrs, CT
Print_ISBN :
0-7803-6341-8
DOI :
10.1109/NEBC.2000.842350
