Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator
Document Type
Article
Publication Date
9-1-2012
Abstract
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.
Keywords
Kinematics, Manipulability, Planar manipulator, Redundant manipulator, Singularity avoidance, Index values, Manipulability, Planar manipulator, Singularity avoidance, Six degree-of-freedom
Divisions
fac_eng
Publication Title
Computers and Mathematics with Applications
Volume
64
Issue
5
Publisher
Elsevier Ltd