Improvement of singularity avoidance for three dimensional planar manipulators by increasing their degrees of freedom
Document Type
Conference Item
Publication Date
6-1-2012
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
Kinematics, Manipulability, Planar manipulator, Redundant manipulator, Singularity avoidance, Manipulability, Planar manipulator, Singularity avoidance, Mechanics
Divisions
fac_eng
Event Title
2012 International Symposium on Computer, Consumer and Control, IS3C 2012
Event Location
Taichung, Taiwan
Event Dates
4-6 June 2012
Event Type
conference
Additional Information
ISBN: 978-076954655 DOI: 10.1109/IS3C.2012.149