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.
Full text not available from this repository.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) |
|---|---|
| Funders: | UNSPECIFIED |
| 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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