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Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator

This paper focuses on the improvement of singularity avoidance of three dimensional planar redundant manipulators by increasing its degrees of freedom without increasing the number of motors controlling the manipulator. Consequently, the method to build a three dimensional planar manipulator with si...

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Main Authors: Yahya, S., Moghavvemi, M., Mohamed, H.A.F.
Format: Article
Published: Elsevier Ltd 2012
Subjects:
TA Engineering (General). Civil engineering (General)
Online Access:http://eprints.um.edu.my/9703/
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spelling my.um.eprints.97032017-11-23T03:26:43Z http://eprints.um.edu.my/9703/ Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator Yahya, S. Moghavvemi, M. Mohamed, H.A.F. TA Engineering (General). Civil engineering (General) This paper focuses on the improvement of singularity avoidance of three dimensional planar redundant manipulators by increasing its degrees of freedom without increasing the number of motors controlling the manipulator. Consequently, the method to build a three dimensional planar manipulator with six-degrees of freedom using three motors instead of six is discussed in detail. A comparison of the manipulability index values for the proposed manipulator is made with the manipulability index values of PUMA arm to demonstrate the effectiveness of using the proposed manipulator for singularity avoidance. Elsevier Ltd 2012-09 Article PeerReviewed Yahya, S. and Moghavvemi, M. and Mohamed, H.A.F. (2012) Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator. Computers and Mathematics with Applications, 64 (5). pp. 856-868. ISSN 08981221 DOI: 10.1016/j.camwa.2011.12.073
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Research Repository
url_provider http://eprints.um.edu.my/
topic TA Engineering (General). Civil engineering (General)
spellingShingle TA Engineering (General). Civil engineering (General)
Yahya, S.
Moghavvemi, M.
Mohamed, H.A.F.
Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator
description This paper focuses on the improvement of singularity avoidance of three dimensional planar redundant manipulators by increasing its degrees of freedom without increasing the number of motors controlling the manipulator. Consequently, the method to build a three dimensional planar manipulator with six-degrees of freedom using three motors instead of six is discussed in detail. A comparison of the manipulability index values for the proposed manipulator is made with the manipulability index values of PUMA arm to demonstrate the effectiveness of using the proposed manipulator for singularity avoidance.
format Article
author Yahya, S.
Moghavvemi, M.
Mohamed, H.A.F.
author_facet Yahya, S.
Moghavvemi, M.
Mohamed, H.A.F.
author_sort Yahya, S.
title Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator
title_short Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator
title_full Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator
title_fullStr Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator
title_full_unstemmed Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator
title_sort singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator
publisher Elsevier Ltd
publishDate 2012
url http://eprints.um.edu.my/9703/
_version_ 1643688632612028416
score 13.160551

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