Work-Space Calculation of a Robotic Arm Using the Articulated Total Body Model

  • Xavier J. R. Avula
  • Ints Kaleps
  • Louise Obergefell
Conference paper


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.


Inverse Kinematic Problem Line Geometry Dextrous Hand Direction Cosine Matrix Direct Kinematic Problem 
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Copyright information

© Springer-Verlag Berlin Heidelberg 1991

Authors and Affiliations

  • Xavier J. R. Avula
    • 1
  • Ints Kaleps
    • 2
  • Louise Obergefell
    • 2
  1. 1.Department of Mechanical and Aerospace EngineeringUniversity of Missouri-RollaRollaUSA
  2. 2.Armstrong Aerospace Medical Research LaboratoryWright-Patterson Air Force BaseDaytonUSA

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