Abstract
SUMMARYThis paper investigates the kinematics and motion of a human arm as a manipulator with seven degrees of freedom, and how to deal with the extra degree of freedom that exists. It proposes that a change of configuration be divided into a sequence of motions where each time one of the joints is locked. It then presents a general technique to solve inverse kinematic equations of the different reduced models that arise.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
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