A behavior-based inverse kinematics algorithm to predict arm prehension postures for computer-aided ergonomic evaluation

Abstract

In this paper, the computational problem of inverse kinematics of arm prehension movements was investigated. How motions of each joint involved in arm movements can be used to control the end-effector (hand) position and orientation was first examined. It is shown that the inverse kinematics problem due to the kinematic redundancy in joint space is ill-posed only at the control of hand orientation but not at the control of hand position. Based upon this analysis, a previously proposed inverse kinematics algorithm (Wang et Verriest, 1998a) to predict arm reach postures was extended to a seven-DOF arm model to predict arm prehension postures using a separate control of hand position and orientation. The algorithm can be either in rule-based form or by optimization through appropriate choice of weight coefficients. Compared to the algebraic inverse kinematics algorithm, the proposed algorithm can handle the non-linearity of joint limits in a straightforward way. In addition, no matrix inverse calculation is needed, thus avoiding the stability and convergence problems often occurring near a singularity of the Jacobian. Since an end-effector motion-oriented method is used to describe joint movements, observed behaviors of arm movements can be easily implemented in the algorithm. The proposed algorithm provides a general frame for arm postural control and can be used as an efficient postural manipulation tool for computer-aided ergonomic evaluation.