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This paper presents a method of solving the inverse kinematics of a three-links planar redundant manipulator to avoid obstacle and to reach a destination point with the implementation of neural networks. An algorithm of the pseudoinverse method with gradient projection technique is first used to determine the trajectory of the manipulator. The adjustable gains in the algorithm are assumed to increase...
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...
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...
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