Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom

Yahya, S. and Moghavvemi, M. and Mohamed, H.A.F. (2012) Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom. In: 2012 International Symposium on Computer, Consumer and Control, IS3C 2012, 4-6 June 2012, Taichung, Taiwan.

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Abstract

This paper demonstrates the singularity avoidance of three dimensional planar redundant manipulators. It discusses how to make the planar manipulators more maneuverable by adding extra degrees of freedom to them. The manipulability and the parameter of singularity indexes have been calculated for three different degrees of freedom three dimensional planar redundant manipulators to show the effectiveness of the proposed method for singularity avoidance.

Item Type: Conference or Workshop Item (Paper)
Additional Information: ISBN: 978-076954655 DOI: 10.1109/IS3C.2012.149
Uncontrolled Keywords: Kinematics; Manipulability; Planar manipulator; Redundant manipulator; Singularity avoidance; Manipulability; Planar manipulator; Singularity avoidance; Mechanics
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 25 Mar 2014 07:29
Last Modified: 23 Nov 2017 02:44
URI: http://eprints.um.edu.my/id/eprint/9711

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