Manipulability constraint locus for a six degrees of freedom redundant planar manipulator
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 cons...
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| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://eprints.um.edu.my/9738/ |
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| Institution: | Universiti Malaya |
| Summary: | 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. |
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