Article ID Journal Published Year Pages File Type
801817 Mechanism and Machine Theory 2014 22 Pages PDF
Abstract

•Two new criteria are constructed to resolve the kinematic redundancy of the human arm.•A new optimal sampling based motion planner is proposed.•Methods to generate human-like reaching and grasping movements are proposed.•Both the end-effector and arm postures of the generated movements are human-like.

In this paper, the generation of trajectories of both end-effector and joints for human-like reaching and grasping motions is studied. In reaching movement, the human-like end-effector trajectory is obtained based on the minimum jerk model. A total potential energy criterion is constructed to resolve the kinematic redundancy of human arm in the target position. Gradient Projection Method (GPM) is adopted to trace the human-like end-effector trajectory while minimizing the total potential energy to generate the human-like joint trajectory. In grasping movement, the total potential energy and wrist discomfort are synthesized to resolve the kinematic redundancy of human arm in the target position and orientation. A new planner, Gradient Projection Method based Rapidly-exploring Random Tree (GPM-RRT) algorithm, is proposed to generate the human-like end-effector trajectory by goal biasing and the human-like joint trajectory by minimizing the synthesis of the total potential energy and wrist discomfort. The criteria and algorithm are verified by simulations and experiments.

Related Topics
Physical Sciences and Engineering Engineering Industrial and Manufacturing Engineering
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