Manipulability constraint locus for a six degrees of freedom redundant planar manipulator

Yahya, S. and Moghavvemi, M. and Mohamed, H.A.F. (2012) Manipulability constraint locus for a six degrees of freedom redundant planar manipulator. In: 2012 International Symposium on Computer, Consumer and Control, IS3C 2012, 4-6 June 2012, Taichung, Taiwan.

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Abstract

This paper uses the manipulability constraint locus to evaluate the properties of manipulability measure for singularity avoidance in a six degrees of freedom three dimensional planar redundant manipulator. A manipulability constraint locus is the set of configurations satisfying the optimality constraint for the manipulability measure. Because the manipulability constraint measure requires a heavy computational efforts so that all the previous papers were dealt with the three degrees of freedom two dimensional planar manipulator. In this paper-through a numerical example-the manipulability constraint measure has been obtained for a six degrees of freedom three dimensional planar redundant manipulator.

Item Type: Conference or Workshop Item (Paper)
Additional Information: ISBN: 978-076954655-1 DOI: 10.1109/IS3C.2012.79
Uncontrolled Keywords: Constraint Locus; Manipulability; Planar manipulator; Redundant manipulator; Computational effort; Constraint Locus; Manipulability; Optimality; Planar manipulator; Singularity avoidance; Six degrees of freedom; Three degrees of freedom
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 25 Mar 2014 09:08
Last Modified: 23 Nov 2017 02:43
URI: http://eprints.um.edu.my/id/eprint/9738

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