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Presentation
Manipulability Constraint Locus for a Six Degrees of Freedom Redundant Planar Manipulator
IEEE Symposium on Computer, Consumer and Control (2012)
  • Prof Dr. Mahmoud Moghavvemi, University of Malaya
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
  • Planar manipulator,
  • Redundant manipulator,
  • Kinematics,
  • Singularity avoidance,
  • Manipulability
Publication Date
Summer June 4, 2012
Citation Information
Prof Dr. Mahmoud Moghavvemi. "Manipulability Constraint Locus for a Six Degrees of Freedom Redundant Planar Manipulator" IEEE Symposium on Computer, Consumer and Control (2012)
Available at: http://works.bepress.com/mahmoud_moghavvemi/5/