Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom
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 th...
محفوظ في:
| المؤلفون الرئيسيون: | , , |
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| التنسيق: | Conference or Workshop Item |
| منشور في: |
2012
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| الموضوعات: | |
| الوصول للمادة أونلاين: | http://eprints.um.edu.my/9711/ |
| الوسوم: |
إضافة وسم
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| الملخص: | 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. |
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