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Kinematic modeling of a human-arm like robot manipulator


Research objectives and content
The project is as well motivated by the increasing demand for high performance robots as by an improvement of the man-machine interface in telerobotic tasks. In the project the human shoulder, arm and wrist are analyzed to derive two models: - A 'close-to-nature' model, that represents the real characteristics of the human arm. - A 'technical' robot model, that serves as prototyping study of a human-arm-like robot manipulator. Technical feasibility is investigated. The design, evaluation and comparison of the models will be
accompanied by a detailed workspace analysis. Here the kinematic characteristics (criteria of manipulability) are analysed as a function of workspace position. Finally, the results are interpreted to improve man-machine interaction in telerobotic systems: - Ergonomic guidelines for force reflecting master devices are developed. - Zones of high kinematic performance are investigated to improve the mapping between master device and slave.
Training content (objective, benefit and expected impact)
- General view in methods and applications of robotics are provided by doctoral lectures and industrial seminars. - The project provides for: - Theoretical know-how: Robot mechanics, control and simulation - Practical know-how: Robot design, programming and ergonomics - Direct cooperation with industrial R&D The training will qualify Mr. Schafer not only to develop robotic systems for new industrial applications but also to advance robotic research in key issues on an academical level.
Links with industry / industrial relevance (22)
- Direct links: Iberdrola, LISSMAC, MENASA, AUXINI, Berghof, Schenking, Mayer, Cobra - Industry relevance: Flexible manufacturing systems, construction, medicine, mining, agriculture, entertainment etc.

Funding Scheme

RGI - Research grants (individual fellowships)


2,C/ Ronda De Valencia 3
28012 Madrid