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  • 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.
  • 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. (en)
Title
  • CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS
  • CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS (en)
skos:prefLabel
  • CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS
  • CONTROL OF KINEMATIC CHAINS WITH ELECTROMYOGRAPHY SIGNALS (en)
skos:notation
  • RIV/68407700:21460/10:00185554!RIV12-MSM-21460___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • S
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 252054
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21460/10:00185554
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • human machine interface; electromyography; Jacobian transformation (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [5309B7EBDF8E]
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Szabó, Zoltán
  • Vítečková, Slávka
  • Kauler, Jan
http://localhost/t...ganizacniJednotka
  • 21460
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