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A behavior-based inverse kinematics algorithm to predict arm prehension postures for computer-aided ergonomic

X Wang1

  • 1Institut National de Recherche sur les transports et leur Sécurité, Bron, France. wang@inrets.fr

Journal of Biomechanics
|May 18, 1999
PubMed
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This study addresses inverse kinematics for arm prehension, developing an algorithm for precise hand position and orientation control in seven-DOF arms. The method offers a stable, efficient approach for robotic and ergonomic applications.

Area of Science:

  • Robotics
  • Biomechanics
  • Computational Kinematics

Background:

  • Investigating the computational problem of inverse kinematics for arm prehension movements.
  • Examining how joint motions control end-effector (hand) position and orientation.
  • Identifying kinematic redundancy in joint space as ill-posed for hand orientation control, but not position control.

Purpose of the Study:

  • Extend a previously proposed inverse kinematics algorithm to a seven-degree-of-freedom (DOF) arm model.
  • Predict arm prehension postures using separate control of hand position and orientation.
  • Provide a general framework for arm postural control and ergonomic evaluation.

Main Methods:

  • Analysis of inverse kinematics for arm prehension movements.

Related Experiment Videos

  • Extension of an existing inverse kinematics algorithm (Wang et Verriest, 1998a) to a seven-DOF arm model.
  • Implementation via a rule-based form or optimization with weight coefficients, handling joint limits and avoiding matrix inversion.

    • Main Results:

    • The extended algorithm successfully predicts arm prehension postures with separate control of hand position and orientation.
    • The proposed method handles non-linearity of joint limits effectively.
    • Avoidance of matrix inverse calculations circumvents stability and convergence issues near Jacobian singularities.

    Conclusions:

    • The developed algorithm provides a robust solution for inverse kinematics in arm prehension.
    • It offers an efficient tool for postural manipulation in computer-aided ergonomic evaluations.
    • The end-effector motion-oriented approach facilitates implementation of observed arm movement behaviors.