TY - GEN
T1 - The mathematical model of the human arm as a switched linear system
AU - Babiarz, Artur
AU - Czornik, Adam
AU - Klamka, Jerzy
AU - Niezabitowski, Michał
AU - Zawiski, Radosław
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/11/13
Y1 - 2014/11/13
N2 - The article presents the process of designing a mathematical model of the human arm. Modelling arm consists of two joints connected by the rotational link. Each of them is represented as a rectangular prism which changes shape during the movement. The moment of shape change depends on the two-state coordinates: the angular displacement q1 and q2. Based on the analysis of the arm movement, a mathematical model has been proposed. The design process was made on the basis of switched systems theory. In the first step, we present the transition from the general equation of the two-link arm dynamics to the state equation for stationary linear models. In the second step, a mathematical model has been shown as a switched linear system. The article also shows that the switching rule depends on the two components of the state vector. A switching method was presented in the schematic drawings.
AB - The article presents the process of designing a mathematical model of the human arm. Modelling arm consists of two joints connected by the rotational link. Each of them is represented as a rectangular prism which changes shape during the movement. The moment of shape change depends on the two-state coordinates: the angular displacement q1 and q2. Based on the analysis of the arm movement, a mathematical model has been proposed. The design process was made on the basis of switched systems theory. In the first step, we present the transition from the general equation of the two-link arm dynamics to the state equation for stationary linear models. In the second step, a mathematical model has been shown as a switched linear system. The article also shows that the switching rule depends on the two components of the state vector. A switching method was presented in the schematic drawings.
UR - https://www.scopus.com/pages/publications/84915747863
U2 - 10.1109/MMAR.2014.6957406
DO - 10.1109/MMAR.2014.6957406
M3 - Conference contribution
AN - SCOPUS:84915747863
T3 - 2014 19th International Conference on Methods and Models in Automation and Robotics, MMAR 2014
SP - 508
EP - 513
BT - 2014 19th International Conference on Methods and Models in Automation and Robotics, MMAR 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 19th International Conference on Methods and Models in Automation and Robotics, MMAR 2014
Y2 - 2 September 2014 through 5 September 2014
ER -