Application of Symbolic Computation in Analytic Determination of the Null Space of Human Arm Kinematics

  • Zhaoyu Wang
  • Kazem Kazerounian
Conference paper


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.


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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Zhaoyu Wang
    • 1
  • Kazem Kazerounian
    • 1
  1. 1.Mechanical Engineering DepartmentUniversity of ConnecticutStorrsUSA

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