Foundations of robotics: analysis and control
Foundations of robotics: analysis and control
Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Dimensional synthesis of kinematically redundant serial manipulators for cluttered environments
Robotics and Autonomous Systems
Robotics and Computer-Integrated Manufacturing
Neural network-based nonlinear tracking control of kinematically redundant robot manipulators
Mathematical and Computer Modelling: An International Journal
Gait detection based stable locomotion control system for biped robots
Computers & Mathematics with Applications
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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.