Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator

Yahya, S. and Moghavvemi, M. and Mohamed, H.A.F. (2012) Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator. Computers and Mathematics with Applications, 64 (5). pp. 856-868. ISSN 08981221

Full text not available from this repository.

Abstract

This paper focuses on the improvement of singularity avoidance of three dimensional planar redundant manipulators by increasing its degrees of freedom without increasing the number of motors controlling the manipulator. Consequently, the method to build a three dimensional planar manipulator with six-degrees of freedom using three motors instead of six is discussed in detail. A comparison of the manipulability index values for the proposed manipulator is made with the manipulability index values of PUMA arm to demonstrate the effectiveness of using the proposed manipulator for singularity avoidance.

Item Type: Article
Uncontrolled Keywords: Kinematics; Manipulability; Planar manipulator; Redundant manipulator; Singularity avoidance; Index values; Manipulability; Planar manipulator; Singularity avoidance; Six degree-of-freedom
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 24 Mar 2014 09:03
Last Modified: 23 Nov 2017 03:26
URI: http://eprints.um.edu.my/id/eprint/9703

Actions (login required)

View Item View Item