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

• Main Authors: Yahya, S., Moghavvemi, M., Mohamed, H.A.F.
• Format: Conference or Workshop Item
• Published: 2012
• Subjects: TA Engineering (General). Civil engineering (General)
• Online Access: http://eprints.um.edu.my/9738/
• Institution: Universiti Malaya

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.