Figure 3From: A biologically inspired neural network controller for ballistic arm movementsBiomechanical model of the upper limb. The two segments L1 and L2 represent the arm and the forearm. From the angular values q1 and q2 it is possible, by means of direct kinematics, to obtain the Cartesian position of the wrist within the working plane. The effect of gravity force is not considered in the model.Back to article page