DocumentCode
2462574
Title
Improvement of Singularity Avoidance for Three Dimensional Planar Manipulators by Increasing their Degrees of Freedom
Author
Yahya, S. ; Moghavvemi, M. ; Mohamed, H.A.F.
Author_Institution
Center of Res. in Appl. Electron. (CRAE), Univ. of Malaya, Kuala Lumpur, Malaysia
fYear
2012
fDate
4-6 June 2012
Firstpage
568
Lastpage
572
Abstract
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.
Keywords
redundant manipulators; degrees of freedom; singularity avoidance; singularity indexes; three dimensional planar redundant manipulators; Ellipsoids; Equations; Indexes; Joints; Kinematics; Manipulators; Kinematics; Manipulability; Planar manipulator; Redundant manipulator; Singularity avoidance;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer, Consumer and Control (IS3C), 2012 International Symposium on
Conference_Location
Taichung
Print_ISBN
978-1-4673-0767-3
Type
conf
DOI
10.1109/IS3C.2012.149
Filename
6228372
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