Human-like behavior of robot arms: General considerations and the handwriting task - Part I: Mathematical description of human-like motion: Distributed positioning and virtual fatigue

Potkonjak, V; Tzafestas, S; Kostic, D; Djordjevic, G

dc.contributor.author	Potkonjak, V	en
dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Kostic, D	en
dc.contributor.author	Djordjevic, G	en
dc.date.accessioned	2014-03-01T01:16:37Z
dc.date.available	2014-03-01T01:16:37Z
dc.date.issued	2001	en
dc.identifier.issn	0736-5845	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14126
dc.subject	Distributed positioning	en
dc.subject	Human-like motion	en
dc.subject	Human-machine analogy	en
dc.subject	Inverse kinematics	en
dc.subject	Redundancy	en
dc.subject	Virtual fatigue	en
dc.subject.classification	Computer Science, Interdisciplinary Applications	en
dc.subject.classification	Engineering, Manufacturing	en
dc.subject.classification	Robotics	en
dc.subject.other	Inverse kinematics	en
dc.subject.other	Inverse problems	en
dc.subject.other	Motion control	en
dc.subject.other	Position control	en
dc.subject.other	Redundancy	en
dc.subject.other	Distributed positioning	en
dc.subject.other	Human-machine analogy	en
dc.subject.other	Virtual fatigue	en
dc.subject.other	Robotic arms	en
dc.title	Human-like behavior of robot arms: General considerations and the handwriting task - Part I: Mathematical description of human-like motion: Distributed positioning and virtual fatigue	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/S0736-5845(01)00005-9	en
heal.identifier.secondary	http://dx.doi.org/10.1016/S0736-5845(01)00005-9	en
heal.language	English	en
heal.publicationDate	2001	en
heal.abstract	This two-part paper is concerned with the analysis and achievement of human-like behavior by robot arms (manipulators). The analysis involves three issues: (i) the resolution of the inverse kinematics problem of redundant robots, (ii) the separation of the end-effector's motion into two components, i.e, the smooth (low accelerated) component and the fast (accelerated) component, and (iii) the fatigue of the motors (actuators) of the robot joints. In the absence of the fatigue, the human-like performance is achieved by using the partitioning of the robot joints into "smooth" and "accelerated" ones (called distributed positioning-DP). The actuator fatigue is represented by the so-called "virtual fatigue" (VF) concept. When fatigue starts, the human-like performance is achieved by engaging more the joints (motors) that are less fatigued, as does the human arm. Part I of the paper provides the theoretical issues of the above approach, while Part II applies it to the handwriting task and provides extensive simulation results that support the theoretical expectations. (C) 2001 Elsevier Science Ltd. All rights reserved.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Robotics and Computer-Integrated Manufacturing	en
dc.identifier.doi	10.1016/S0736-5845(01)00005-9	en
dc.identifier.isi	ISI:000169783700005	en
dc.identifier.volume	17	en
dc.identifier.issue	4	en
dc.identifier.spage	305	en
dc.identifier.epage	315	en