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Published Paper Details:
Redundant Manipulators and Singularity Avoidance: Strategies for Optimized Performance
Authors
Mullainathan V H,Srimathi P,Anbarasi M P
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Keywords
Redundant manipulators, Singular configurations, Universal Robots UR5e, Kinematic redundancy, Jacobian matrix, Null space, Geometric constraints, Configuration space, Mathematical properties, Joint angle solutions, Finite State Machine (FSM), Monte Carlo method, Probability assessment, Workspace analysis, Robot systemdesign, Operational efficiency, Human-robot collaboration, Robotic adaptability, Industrial automation.
Abstract
Robotic manipulators equipped with redundant
degrees of freedom offer increased flexibility and dexterity but
are prone to encountering singular configurations that hinder
performance and control. This paper introduces novel
strategies for singularity avoidance in redundant
manipulators, focusing on optimizing their performance.
Drawing inspiration from existing research, an innovative
approach based on the Monte Carlo method for singularity
analysis is proposed. By randomly mapping the robot's
workspace and identifying points closest to a given trajectory,
detection and characterization of singularity states is
determined. Unlike traditional inverse calculation methods,
this approach reduces computational demands while
providing a clear graphical representation of singularity
occurrences. Through rigorous mathematical analysis and
illustrative graph ,the effectiveness of this method in
singularity avoidance is presented. Furthermore, exploring
practical applications through case studies involving various
robot configurations is possible. This research contributes
valuable insights and tools for improving the operational
efficiency and adaptability of redundant manipulators in
diverse robotic applications.
IJCRT's Publication Details
Unique Identification Number - IJCRT2311113
Paper ID - 246052
Author type - Indian Author
Page Number(s) - a939-a945
Pubished in - Volume 11 | Issue 11 | November 2023
DOI (Digital Object Identifier) -
No Of Downloads - 73
Author Country - India, 641047, COIMBATORE, COIMBATORE, 641047, Science and Technology
Publisher Name - IJPUBLICATION | www.ijcrt.org | ISSN : 2320-2882
E-ISSN Number - 2320-2882
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Published Paper URL: : - http://ijcrt.org/viewfull.php?&p_id=IJCRT2311113
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Mullainathan V H,Srimathi P,Anbarasi M P, "Redundant Manipulators and Singularity Avoidance: Strategies for Optimized Performance", International Journal of Creative Research Thoughts (IJCRT), ISSN:2320-2882, Volume.11, Issue 11, pp.a939-a945, November 2023, Available at :http://www.ijcrt.org/papers/IJCRT2311113.pdf
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ISSN: 2320-2882 Impact Factor: 7.97 and ISSN APPROVED Journal Starting Year (ESTD) : 2013
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ISSN: 2320-2882 Impact Factor: 7.97 and ISSN APPROVED Journal Starting Year (ESTD) : 2013
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