Skip to main content
Presentation
Improvement of Singularity Avoidance for Three Dimensional Planar Manipulators by Increasing their Degrees of Freedom
IEEE Symposium on Computer, Consumer and Control (2012)
  • Prof Dr. Mahmoud Moghavvemi, University of Malaya
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
  • Planar manipulator,
  • Redundant manipulator,
  • Kinematics,
  • Singularity avoidance,
  • Manipulability
Publication Date
Summer June 4, 2012
Citation Information
Prof Dr. Mahmoud Moghavvemi. "Improvement of Singularity Avoidance for Three Dimensional Planar Manipulators by Increasing their Degrees of Freedom" IEEE Symposium on Computer, Consumer and Control (2012)
Available at: http://works.bepress.com/mahmoud_moghavvemi/4/