Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator
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 si...
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2012
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my.um.eprints.97032017-11-23T03:26:43Z http://eprints.um.edu.my/9703/ Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator Yahya, S. Moghavvemi, M. Mohamed, H.A.F. TA Engineering (General). Civil engineering (General) 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. Elsevier Ltd 2012-09 Article PeerReviewed 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 DOI: 10.1016/j.camwa.2011.12.073 |
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TA Engineering (General). Civil engineering (General) Yahya, S. Moghavvemi, M. Mohamed, H.A.F. Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator |
| description |
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. |
| format |
Article |
| author |
Yahya, S. Moghavvemi, M. Mohamed, H.A.F. |
| author_facet |
Yahya, S. Moghavvemi, M. Mohamed, H.A.F. |
| author_sort |
Yahya, S. |
| title |
Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator |
| title_short |
Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator |
| title_full |
Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator |
| title_fullStr |
Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator |
| title_full_unstemmed |
Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator |
| title_sort |
singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator |
| publisher |
Elsevier Ltd |
| publishDate |
2012 |
| url |
http://eprints.um.edu.my/9703/ |
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1643688632612028416 |