REDUNDANCY PROBLEM IN WRITING - FROM HUMAN TO ANTHROPOMORPHIC ROBOT ARM

This paper presents the analysis of motion of a redundant anthropomorp hic arm during the writing. The modeling is based on the separation of the prescribed movement into two motions: smooth global, and fast loc al motion, called distributed positioning (DP), The distribution of th ese motions to arm joints is discussed. It is based on the inertial pr operties and actuation capabilities of joints. The approach suggested allows unique solution of the inverse kinematics of redundant mechanis ms such as human arm and anthropomorphic robot arm. Distributed positi oning is an inherent property of biological systems, Humans, when writ ing, as shown in literature and in our earlier work control their prox imal joints, while the movement of distal joints follow them (synergy) . To enhance capabilities of robots, new control schema are necessary, We show that robot control can be improved if it is biological analog , The major aim of this study is to promote such a hypothesis by using anthropomorphic robot arm in writing as an example.