Manipulability constraint locus for a six degrees of freedom redundant planar manipulator
Document Type
Conference Item
Publication Date
6-1-2012
Abstract
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.
Keywords
Constraint Locus, Manipulability, Planar manipulator, Redundant manipulator, Computational effort, Constraint Locus, Manipulability, Optimality, Planar manipulator, Singularity avoidance, Six degrees of freedom, Three degrees of freedom
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: 978-076954655-1 DOI: 10.1109/IS3C.2012.79