CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21460%2F10%3A00180110" target="_blank" >RIV/68407700:21460/10:00180110 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21460/10:00185554
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS
Original language description
The paper deals with the end-point control system of robot arm, or more generally with control of kinematic chains. The signals for kinematic control are gained from the electromyography (EMG) signals. In our case, robot arm with three degrees of freedom, so called SCARA was used. The paper presents the hardware proposal for the recording and adjustment of the EMG signals. Analysis of the robot's kinematic structure including the inverse kinematic task is solved. The proposed algorithms allow the movement of either a single kinematic pair or an arm end-point of the robot. OOPIC microcontroller was used, that is programmable in simple object-oriented software. The inverse kinematic task was solved by means of the Newton iteration method with Jacobian matrix in Matlab software environment.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů