التفاصيل البيبلوغرافية
| العنوان: |
The Control of Human Arm Movement Models and Mechanical Constraints |
| المؤلفون: |
Bennett, David J. |
| سنة النشر: |
1990 |
| المجموعة: |
M.I.T. Theses and Dissertation |
| Original Material: |
AITR-1234 |
| الوصف: |
A serial-link manipulator may form a mobile closed kinematic chain when interacting with the environment, if it is redundant with respect to the task degrees of freedom (DOFs) at the endpoint. If the mobile closed chain assumes a number of configurations, then loop consistency equations permit the manipulator and task kinematics to be calibrated simultaneously using only the joint angle readings; endpoint sensing is not required. Example tasks include a fixed endpoint (0 DOF task), the opening of a door (1 DOF task), and point contact (3 DOF task). Identifiability conditions are derived for these various tasks. |
| Original Identifier: |
oai:dspace.mit.edu:1721.1/7031 |
| وصف الملف: |
21188279 bytes; 8013835 bytes; application/postscript; application/pdf |
| Relation: |
AITR-1234 |
| الاتاحة: |
http://hdl.handle.net/1721.1/7031 |
| رقم الانضمام: |
edsndl.MIT.oai.dspace.mit.edu.1721.1.7031 |
| قاعدة البيانات: |
Networked Digital Library of Theses & Dissertations |