motor models
TRANSCRIPT
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8/9/2019 Motor Models
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8/9/2019 Motor Models
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4 6 8 103
4
5
6
7
8
9
10
Horizontal position
Verticalposition
Minimum jerkMinimum angular jerk
0 10 20 30 400
0.1
0.2
0.3
0.4
0.5
Time
Horizontalspeed
0 5 10 150
2
4
6
8
10
Arm posture minangular jerk
L1
L2beta
alfa
xaxis
yaxis
finger tip
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8/9/2019 Motor Models
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yaxis
zaxis
torsion(gamma)
beta
Top View
Side View
xaxis
xaxis
alpha
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-
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8/9/2019 Motor Models
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yaxis
zaxis
torsion(gamma)
Top View
Side View
xaxis
xaxis
beta
delta
alpha
delta
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8/9/2019 Motor Models
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8/9/2019 Motor Models
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12 3
4
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8/9/2019 Motor Models
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105
0
0
5
10
10
5
0
Alpha
86
42
0
0
10
15
10
5
0
Beta
86
42
0
0
5
10
10
5
0
Gamma
42
0
0
5
10
20
10
0
Delta
10
5
0
0
10
2015
10
5
0
xy
z
0 10 20 30 400
0.05
0.1
0.15
0.2
0.25
Time
Speed
x
direction
0 10 20 30 400
0.05
0.1
0.15
0.2
0.25
Time
Speed
y
direction
0 10 20 30 400
0.01
0.02
0.03
0.04
0.05
0.06
0.07
Time
Speed
z
direction
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8/9/2019 Motor Models
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10
8
6
4
2
0
0
2
4
6
8
10
8
6
4
2
0
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8/9/2019 Motor Models
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8/9/2019 Motor Models
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20 15 10 5 0 5 105
0
5
10
15
20
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8/9/2019 Motor Models
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20 15 10 5 0 5 10 1510
5
0
5
10
15
20
25
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8/9/2019 Motor Models
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20 10 0 10
5
0
5
10
15
20 stored postures, w=1
20 10 0 10 20
5
0
5
10
15
20
100 stored postures, w=1
20 10 0 10
10
5
0
5
10
15
20
100 stored postures, w=0.7
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8/9/2019 Motor Models
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20 10 0 10
5
0
5
10
15
20
First movement
20 10 0 10
5
0
5
10
15
20
After 20 movements
20 10 0 10
5
0
5
10
15
20
After 50 movements
0 10 20 30 40 500
1
2
3
4
5
Number of movements
Distance towards targetProportion of replaced postures
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8/9/2019 Motor Models
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2015
105
05
10
20
10
0
10
20
20
15
10
5
0
5
10
15
20