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

• Main Authors: Yahya, S., Moghavvemi, M., Mohamed, H.A.F.
• Format: Article
• Published: Elsevier Ltd 2012
• Subjects: TA Engineering (General). Civil engineering (General)
• Online Access: http://eprints.um.edu.my/9703/
• Institution: Universiti Malaya

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...