Work-Space Calculation of a Robotic Arm Using the Articulated Total Body Model
In this paper the work-space of a robotic arm and the arm positions at various times are calculated using the Articulated Total Body (ATB) Model developed by the Armstrong Aerospace Medical Research Laboratory, Wright-Patterson Air Force Base in an effort to advance the Robotics Telepresence Technology. The behavior of the right arm is simulated on the computer with a force applied to the center of the hand, and the generated work-space is graphically displayed.
KeywordsInverse Kinematic Problem Line Geometry Dextrous Hand Direction Cosine Matrix Direct Kinematic Problem
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