An inverse kinematic algorithm for the human leg

• Autorzy: Głowiński S. , Krzyżyński T.

Identyfikatory

DOI

10.15632/jtam-pl.54.1.53

• Języki publikacji: EN

Abstrakty

EN

In this article, a 3-link kinematic model of a human leg is defined and analyzed with focus on optimizing the manipulability. The forward kinematics for the leg is used to define quantitative measures of the manipulability and workspace in a sagittal plane. Analytical results for different manipulability indices are derived. Using numerical optimization in Matlab package, the manipulability measure is optimized under different constraints. The range of motion and joint comfort zones of every joint is defined. The algorithm for redundant chain, based on analytical equations, is proposed in inverse kinematics.

Słowa kluczowe

EN

inverse kinematics; human leg; optimization

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2016
• Tom: Vol. 54 nr 1
• Strony: 53--61
• Opis fizyczny: Bibliogr. 9 poz., rys., tab.

Twórcy

autor

Głowiński S.

• Koszalin University of Technology, Faculty of Technology and Education, Koszalin, Poland

autor

Krzyżyński T.

• Koszalin University of Technology, Faculty of Technology and Education, Koszalin, Poland

Bibliografia

• 1. Chaffin D., Andersson G., 1991, Occupational Biomechanics, 2nd edn., John Wiley & Sons
• 2. Głowiński S., Krzyżyński T., Pecolt S., Maciejewski I., 2015, Kinematics and dynamics of an exoskeleton arm, Archives of Applied Mechanics, 85, 75-87, DOI 10.1007/s00419-014-0900-8
• 3. Gu E.Y.L., 2013, A Journey from Robot to Digital Human, Mathematical Principles and Applications with MATLAB Programming, Springer
• 4. Nocedal J., Wright S.J., 1999, Numerical Optimization, Springer
• 5. Parker J.A., Khoogar A.R., Goldberg D.E., 1989, Inverse kinematics of redundant robots using genetic algorithms, Proceedings, IEEE International Conference on Robotics and Automation, 1, 271-276
• 6. Porta J.M., Ros L., Thomas F., 2005, Inverse kinematic solution of robot manipulators using interval analysis, 4th International Workshop on Computational Kinematics
• 7. Rao R.S., Asaithambi A., Agrawal S.K., 1998, Inverse kinematic solution of robot manipulators using interval analysis, Journal of Mechanical Design, 120, 1, 147-150
• 8. Tejomurtula S., Kak S., 1999, Inverse kinematics in robotics using neural networks, Information Sciences, 116, 2/4, 147-164
• 9. http://philschatz.com/anatomy-book/contents/m46398.html, http://creativecommons.org/licenses/by/4.0/ Anatomy and Physiology Textbook (access 10.02.2015)

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniajacą naukę.