Application of Symbolic Computation in Analytic Determination of the Null Space of Human Arm Kinematics
In this report, the explicit formulation for the Jacobian matrix and its null space for an anthropomorphic manipulator arm with seven degrees of freedom are presented. The manipulability index of this redundant system, which is defined as the determinant of JJT. is the Euclidian norm of the generated null space vector. The results, without a computer symbolic manipulation, would have been highly unlikely. It is hoped that these results would contribute to the research in the fields of biomanipulation, cybernetics and redundant manipulation.
Unable to display preview. Download preview PDF.
- .Baillieul, J. (1985) “Kinematic programming alternatives for redundant manipulators”. Proc. 1985 international conference on robotics and automation St Louis.Google Scholar
- .Benati, M., P. Morasso and V. Tagliasco (1982) “The inverse kinematic problem for anthropomorphic manipulator arms”, Trans. ASME. J. of Dyn. Sys. Meas and cont. 104. .Bouema, O. and Roth, B. (1979) Theoretical Kinematics North Holland, Amsterdam.Google Scholar
- .Gupta, K. C. (1986) “Kinematic analysis of manipulators using the zero reference position description”, The International J. of Robotic Research. 5, No. 2, 5–13.Google Scholar
- .Hollerbach, J. M. (1985) “Optimum Kinematic Design for A Seven Degree of Freedom Manipulator”, Robotics Research: The Second International Symposium.Google Scholar
- .Lancaster, P. and Tismenetsky, M., (1985), The Theory of Matrices, Academic Press Inc., Orlando, FL.Google Scholar
- .Wang, S.L.,. (1988) “A Study of An Anthropomorphic Robot Ann” Trends and Developments in Mechanisms. Machines. and Robotics Proc. of 20th Biennial Mechanisms Conference, Kissimmee, FL.Google Scholar