Articulated total body model

A simple and comprehensive menu-driven computer-based method for trajectory planning and force analysis in a planar robot is developed in the first paper. The robot designer is able to vary parameters and study their effect on the robot performance. In the second paper, a simple method to analyze the effect of torque and force on the first three links of a PUMA robot has been determined. Minimum time trajectory and bang-bang control with discontinuity points and knot points smoothed by parabolic blend are used. The workspace of a robotic arm using the Articulated Total Body model is calculated in the third paper. Computation of the workspace of the end effector is important in determining the effectiveness of a robot. 

Work Space Calculation of a Robotic Arm Using the Articulated Total Body Model... 

Let us now turn our attention to the Articulated Total Body model which we have considered as a tool for understanding human articulated motion from robotics point of view. 

FIGURE 10.9 Articulated total body (ATB) model prediction for the response of an unrestrained standing child to panic braking in an automobile at 500 and 600 ms after commencing braking, (von Gierke, 1997.)... 

Firstly, MRI (magnetic resonance imaging) is used to scan human body at each point in 3-axis, MIMICS software was used to simulate the data from MRI to generate the 3D model in. stl format. From the 3D model, the size of the kneecap of the patient can be measured and the suitable size of the articulate patellar during the total knee replacement can be decided. 

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