Analysis of Human Arm Nonlinear and Linear Mathematical Models

Abstract

This paper concentrate on the kinematics and dynamics analysis of human upper arm and extends it to the human manipulator. Kinematics is the study of motion without regard to the forces that create it. The representation of the hand position and orientation through the geometries of arm (joint and link parameters) are called direct kinematics. Using forward kinematics, the mathematical model is developed to compute the position and orientation of arm based on the given human joint position. Each human joint is considered as revolute joint. Dynamics of the arm refers to the interaction between forces in the system and change of state of the system. Based on the dynamic equation of motion of the arm nonlinear and linear model of human upper arm has been defined. The presented models of arm motion has been derived using the Euler-Lagrange equation. In this paper the results of a simulation of the proposed models are presented.