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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my.um.eprints.97382017-11-23T02:43:20Z http://eprints.um.edu.my/9738/ Manipulability constraint locus for a six degrees of freedom redundant planar manipulator Yahya, S. Moghavvemi, M. Mohamed, H.A.F. TA Engineering (General). Civil engineering (General) 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. 2012-06 Conference or Workshop Item PeerReviewed Yahya, S. and Moghavvemi, M. and Mohamed, H.A.F. (2012) Manipulability constraint locus for a six degrees of freedom redundant planar manipulator. 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) Yahya, S. Moghavvemi, M. Mohamed, H.A.F. Manipulability constraint locus for a six degrees of freedom redundant planar manipulator |
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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. |
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 |
Manipulability constraint locus for a six degrees of freedom redundant planar manipulator |
title_short |
Manipulability constraint locus for a six degrees of freedom redundant planar manipulator |
title_full |
Manipulability constraint locus for a six degrees of freedom redundant planar manipulator |
title_fullStr |
Manipulability constraint locus for a six degrees of freedom redundant planar manipulator |
title_full_unstemmed |
Manipulability constraint locus for a six degrees of freedom redundant planar manipulator |
title_sort |
manipulability constraint locus for a six degrees of freedom redundant planar manipulator |
publishDate |
2012 |
url |
http://eprints.um.edu.my/9738/ |
_version_ |
1643688642232713216 |