PCB assembly sequence and feeder assignment problem for the case of Tchebyshev robot arm motion. II. Models development

Handwriting has always been considered an important human task, and accordingly it has attracted the attention of researchers working in biomechanics, physiology, and related fields. There exist a number of studies on this area. This paper considers the human–machine analogy and relates robots with handwriting. The work is two-fold: it improves the knowledge in biomechanics of handwriting, and introduces some new concepts in robot control. The idea is to find the biomechanical principles humans apply when resolving kinematic redundancy, express the principles by means of appropriate mathematical models, and then implement them in robots. This is a step forward in the generation of human-like motion of robots. Two approaches to redundancy resolution are described: (i) "Distributed Positioning" (DP) which is based on a model to represent arm motion in the absence of fatigue, and (ii) the "Robot Fatigue" approach, where robot movements similar to the movements of a human arm under muscle fatigue are generated. Both approaches are applied to a redundant anthropomorphic robot arm performing handwriting. The simulation study includes the issues of legibility and inclination of handwriting. The results demonstrate the suitability and effectiveness of both approaches.

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Robot Trajectory Planning Using Rational Frenet-Serret Curves

Volume 2 ◽

10.1115/esda2004-58410 ◽

2004 ◽

Author(s):

Reza Ravani ◽

Ali Meghdari

Keyword(s):

Trajectory Planning ◽

Computer Animation ◽

Rational Curves ◽

Robot Arm ◽

Robot Trajectory ◽

Arm Motion ◽

Sweep Surface ◽

And Robotics ◽

Rotation Minimizing Frame ◽

Robot Trajectory Planning

The aim of this paper is to demonstrate that the techniques of Computer Aided Geometric Design such as spatial rational curves and surfaces could be applied to Kinematics, Computer Animation and Robotics. For this purpose we represent a method which utilizes a special class of rational curves called Rational Frenet-Serret (RF) [8] curves for robot trajectory planning. RF curves distinguished by the property that the motion of their Frenet-Serret frame is rational. We describe an algorithm for interpolation of positions by a rational Frenet-Serret motion. Further more we provide an analysis on spatial frames (Frenet-Serret frame and Rotation Minimizing frame) for smooth robot arm motion and investigate their applications in sweep surface modeling.

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Robot Arm Motion Planning Based on Geodesics

10.1109/icra48506.2021.9561180 ◽

2021 ◽

Author(s):

Mario Laux ◽

Andreas Zell

Keyword(s):

Motion Planning ◽

Robot Arm ◽

Arm Motion

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Real-time Robot Arm Motion Planning and Control with Nonlinear Model Predictive Control using Augmented Lagrangian on a First-Order Solver

2020 European Control Conference (ECC) ◽

10.23919/ecc51009.2020.9143732 ◽

2020 ◽

Author(s):

Ajay Suresha Sathya ◽

Joris Gillis ◽

Goele Pipeleers ◽

Jan Swevers

Keyword(s):

Motion Planning ◽

Predictive Control ◽

Nonlinear Model ◽

Augmented Lagrangian ◽

Nonlinear Model Predictive Control ◽

Robot Arm ◽

First Order ◽

Planning And Control ◽

Arm Motion ◽

And Control

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Compensation of hand movement for patients by assistant force: relationship between human hand movement and robot arm motion

IEEE Transactions on Neural Systems and Rehabilitation Engineering ◽

10.1109/7333.948459 ◽

2001 ◽

Vol 9 (3) ◽

pp. 302-307 ◽

Cited By ~ 10

Author(s):

Ou Bai ◽

M. Nakamura ◽

H. Shibasaki

Keyword(s):

Hand Movement ◽

Human Hand ◽

Robot Arm ◽

Arm Motion ◽

Force Relationship

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A Model of Human Reaction Time to Dangerous Robot Arm Movements

Proceedings of the Human Factors Society Annual Meeting ◽

10.1177/154193128703100212 ◽

1987 ◽

Vol 31 (2) ◽

pp. 191-195 ◽

Cited By ~ 5

Author(s):

Martin G. Helander ◽

Mark H. Karwan ◽

John Etherton

Keyword(s):

Decision Making ◽

Reaction Time ◽

Motor Response ◽

Arm Movements ◽

Robot Arm ◽

Total Reaction ◽

Human Reaction ◽

Arm Motion ◽

Human Reaction Time ◽

Total Reaction Time

An increasing number of studies indicate that robots are the most hazardous equipment in industry. The very virtue that makes them attractive for industrial work, the programmable arm, is the cause of accidents since the arm motion is often difficult to perceive. The present paper presents a model of human reaction time and emergency behavior. The total reaction time is the sum of three elements: perception, decision making and motor response. Each of these three elements are modeled using concepts such as perceptual discriminability and single detection theory. Finally the results of an experiment is presented where the human reaction time is modeled as a function of robot arm speed.

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