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Considerations on Human Arm Workspace and Manipulability

  • J. Lenarčič
  • A. Umek
  • S. Savić
Conference paper

Abstract

The paper deals with mathematical modelling of human arm kinematics with emphasis on workspace determination. The mathematical model is obtained by measurement of an arbitrarily selected human arm. A five degrees of freedom kinematic structure for the shoulder complex and one degree of freedom for the elbow joint is proposed. Determination of the reachable workspace takes into account possible collisions between the arm and the body and is based on a repeated calculation of the end effector positions for various values of joint angles. Manipulability is computed at each point of the workspace in order to display and evaluate its kinematic contents.

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References

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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • J. Lenarčič
    • 1
  • A. Umek
    • 1
  • S. Savić
    • 1
  1. 1.Jožef Stefan InstituteUniversity of LjubljanaLjubljanaYugoslavia

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