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...
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2012
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my.um.eprints.97112017-11-23T02:44:40Z http://eprints.um.edu.my/9711/ Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom Yahya, S. Moghavvemi, M. Mohamed, H.A.F. TA Engineering (General). Civil engineering (General) 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. 2012-06 Conference or Workshop Item PeerReviewed Yahya, S. and Moghavvemi, M. and Mohamed, H.A.F. (2012) Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom. In: 2012 International Symposium on Computer, Consumer and Control, IS3C 2012, 4-6 June 2012, Taichung, Taiwan. |
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TA Engineering (General). Civil engineering (General) |
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TA Engineering (General). Civil engineering (General) Yahya, S. Moghavvemi, M. Mohamed, H.A.F. Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom |
| description |
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. |
| format |
Conference or Workshop Item |
| author |
Yahya, S. Moghavvemi, M. Mohamed, H.A.F. |
| author_facet |
Yahya, S. Moghavvemi, M. Mohamed, H.A.F. |
| author_sort |
Yahya, S. |
| title |
Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom |
| title_short |
Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom |
| title_full |
Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom |
| title_fullStr |
Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom |
| title_full_unstemmed |
Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom |
| title_sort |
improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom |
| publishDate |
2012 |
| url |
http://eprints.um.edu.my/9711/ |
| _version_ |
1643688634951401472 |