Manipulability constraint locus for a six degrees of freedom redundant planar manipulator

• المؤلفون الرئيسيون: Yahya, S., Moghavvemi, M., Mohamed, H.A.F.
• التنسيق: Conference or Workshop Item
• منشور في: 2012
• الموضوعات: TA Engineering (General). Civil engineering (General)
• الوصول للمادة أونلاين: http://eprints.um.edu.my/9738/

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.