{"title":"生物驱动的伺服机构运动学模型","authors":"S. Zein-Sabatto, M. Bodruzzaman, J. G. Kuschewski","doi":"10.1109/SECON.1995.513078","DOIUrl":null,"url":null,"abstract":"Forward and inverse kinematic models for a human like (HL) robot joint are developed and used to simulate the behavior of the joint. The forward kinematic model of the HL joint is found simply to consist of two rotational motions about fixed coordinate frames. The inverse tangent (atan2) function technique is used to develop an inverse kinematic model of the HL joint. This technique also prevents singular values from occurring in the calculations. Simulation results of the forward kinematic model are presented.","PeriodicalId":334874,"journal":{"name":"Proceedings IEEE Southeastcon '95. Visualize the Future","volume":"132 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1995-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Biologically motivated servomechanism kinematic models\",\"authors\":\"S. Zein-Sabatto, M. Bodruzzaman, J. G. Kuschewski\",\"doi\":\"10.1109/SECON.1995.513078\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Forward and inverse kinematic models for a human like (HL) robot joint are developed and used to simulate the behavior of the joint. The forward kinematic model of the HL joint is found simply to consist of two rotational motions about fixed coordinate frames. The inverse tangent (atan2) function technique is used to develop an inverse kinematic model of the HL joint. This technique also prevents singular values from occurring in the calculations. Simulation results of the forward kinematic model are presented.\",\"PeriodicalId\":334874,\"journal\":{\"name\":\"Proceedings IEEE Southeastcon '95. Visualize the Future\",\"volume\":\"132 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1995-03-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings IEEE Southeastcon '95. Visualize the Future\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SECON.1995.513078\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IEEE Southeastcon '95. Visualize the Future","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SECON.1995.513078","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Forward and inverse kinematic models for a human like (HL) robot joint are developed and used to simulate the behavior of the joint. The forward kinematic model of the HL joint is found simply to consist of two rotational motions about fixed coordinate frames. The inverse tangent (atan2) function technique is used to develop an inverse kinematic model of the HL joint. This technique also prevents singular values from occurring in the calculations. Simulation results of the forward kinematic model are presented.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
