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

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

Abstract

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.

Keywords

Inverse Kinematic Problem Line Geometry Dextrous Hand Direction Cosine Matrix Direct Kinematic Problem 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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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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