제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)
- 제5권4호
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- Pages.446-453
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- 1999
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- 1976-5622(pISSN)
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- 2233-4335(eISSN)
로봇 조작도에 기반한 역도 들기 자세 해석
Analysis of Weightlifting Motion Based on Robotic Manipulability
초록
An athlete motion during weightlifting is analyzed based on robotic manipulability, which shows dexterities by changing the position and orientation of the end-effector of robot manipulators arbitrary or along a specified direction. The athlete body is modeled as a highly redundant robot manipulator. The motion of weightlifting is analyzed based on the selected model with a power manipulability. Power manipulability and its geometric characteristics are derived by combining kinematic manipulability and dynamic manipulability. Also, manipulability-based optimal trajectory of weightlifter for given body structure of weightlifter derived through genetic algorithm.