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Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom

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 th...

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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/9711/
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id my.um.eprints.9711
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spelling my.um.eprints.97112017-11-23T02:44:40Z http://eprints.um.edu.my/9711/ Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom Yahya, S. Moghavvemi, M. Mohamed, H.A.F. TA Engineering (General). Civil engineering (General) 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. 2012-06 Conference or Workshop Item PeerReviewed Yahya, S. and Moghavvemi, M. and Mohamed, H.A.F. (2012) Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom. In: 2012 International Symposium on Computer, Consumer and Control, IS3C 2012, 4-6 June 2012, Taichung, Taiwan.
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.
Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom
description 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.
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 Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom
title_short Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom
title_full Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom
title_fullStr Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom
title_full_unstemmed Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom
title_sort improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom
publishDate 2012
url http://eprints.um.edu.my/9711/
_version_ 1643688634951401472
score 13.160551

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