Author:Singh, GK; Claassens, JDate:Oct 2010This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end-effector ...Read more
Author:Claassens, J; Demiris, YDate:Sep 2011This paper concerns modelling human hand or tool trajectories when interacting with everyday objects. In these interactions symmetries may be exhibited in portions of the trajectories which can be used to identify task space redundancy. This ...Read more