CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS
Identifikátory výsledku
Kód výsledku v 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>
Nalezeny alternativní kódy
RIV/68407700:21460/10:00185554
Výsledek na webu
—
DOI - Digital Object Identifier
—
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS
Popis výsledku anglicky
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.
Klasifikace
Druh
O - Ostatní výsledky
CEP obor
JD - Využití počítačů, robotika a její aplikace
OECD FORD obor
—
Návaznosti výsledku
Projekt
—
Návaznosti
S - Specificky vyzkum na vysokych skolach
Ostatní
Rok uplatnění
2010
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů