Important Details
IJCRT - International Peer Reviewed, Open Access Journal, Multidisciplinary, Monthly, Nominal(Low) Fees for Professional Research Services International Journal of Creative Research Thoughts - IJCRT Peer Review Journal, Refereed Journal, Peer Reviewed Journal , Referred Journal and Indexed Journal, Open access, Online and Print Journal,international Journal Open Access, Accepted by Indian and foreign university ,IJCRT Followed Norms, guidelines, requirement, listing criteria and methodology of score/point also applied from: Scopus , Web of Science , UGC Approved , UGC CARE, UGC-CARE .
UGC Approved Journal No: 49023 (18)
UGC approval Link
https://ijcrt.org/ugc%20approval.jpg
All Policy and Approval
Please Like Our Facebook Page and get 100 of in DOI | DOI and Hard copy of Certificate Provide if required. | www.IJCRT.org | editor@IJCRT.org | WhatsApp: 7990172303
Publication Details:
- Paper Submission : 30-Jun-2024. Call For Paper (Volume 12 | Issue 6 | Month- June 2024)
- Acceptance/Rejection Notification: Within 02-04 Days.
- Paper Publish: Within 02-04 Days after submitting all documents.
-
Submit Your Paper Any time There No deadline.
-
Publication fees with free DOI: 1500 INR for Indian author & 55$ for foreign International author.
Please Like Our Facebook Page and get 100 INR off in DOI | DOI and Hard copy of Certificate Provide if required.
Licence and Indexing
Indexing In Google Scholar, SSRN, ResearcherID-Publons, Semantic Scholar | AI-Powered Research Tool, Microsoft Academic, Academia.edu, arXiv.org, Research Gate, CiteSeerX, ResearcherID Thomson Reuters, Mendeley : reference manager, DocStoc, ISSUU, Scribd, and many more | High Impact Factor: 7.97 | Digital object identifier (DOI) and Hard Copy of certificate Provided.
Licence
DOI
ISSN Approved impact factor: 7.97 
Creative Common 
Valid as per new UGC Gazette regulations 
INTERNATIONAL JOURNAL OF CREATIVE RESEARCH THOUGHTS - IJCRT (IJCRT.ORG)
International Peer Reviewed & Refereed Journals, Open Access Journal
ISSN Approved Journal No: 2320-2882 | Impact factor: 7.97 | ESTD Year: 2013
Call For Paper - Volume 12 | Issue 6 | Month- June 2024
Scholarly open access journals, Peer-reviewed, and Refereed Journals, Impact factor 7.97 (Calculate by google scholar and Semantic Scholar | AI-Powered Research Tool) , Multidisciplinary, Monthly, Indexing in all major database & Metadata, Citation Generator, Digital Object Identifier(DOI)
Contact Us Click Here
WhatsApp Contact Click Here
Published Paper Details:
Redundant Manipulators and Singularity Avoidance: Strategies for Optimized Performance
Authors
Mullainathan V H,Srimathi P,Anbarasi M P
Downlaod Center
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 - 70
Author Country - India, 641047, COIMBATORE, COIMBATORE, 641047, Science and Technology
Publisher Name - IJPUBLICATION | www.ijcrt.org | ISSN : 2320-2882
E-ISSN Number - 2320-2882
Published Paper PDF : - http://www.ijcrt.org/papers/IJCRT2311113
Published Paper URL: : - http://ijcrt.org/viewfull.php?&p_id=IJCRT2311113
Published Paper PDF Downlaod: - download.php?file=IJCRT2311113
Download Your article
Cite this article
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
License
Article Preview
Types of Articles invited
Research Papers, Survey Papers, Study Papers, Subjective Papers, Experimental Result Papers, Analysis Study Research Papers, Informative Article, Comparison Papers, Case Studies Papers, Review Papers, Comparative Studies, Dissertation Chapters, Research Proposals or Synopsis, Working Projects, New Innovation & Idea, Prototypes and Models and many More
Call For Paper
About IJCRT (Refereed Journal, Peer Journal and Indexed Journal )
About IJCRT
The International Journal of Creative Research Thoughts (IJCRT) aims to explore advances in research pertaining to applied, theoretical and experimental Technological studies.
The goal is to promote scientific information interchange between researchers, developers, engineers, students, and practitioners working in and around the world.
IJCRT is Scholarly open access journals, Peer-reviewed, and Refereed Journals, Impact factor 7.97 (Calculate by google scholar and Semantic Scholar | AI-Powered Research Tool), Multidisciplinary, Monthly, Indexing in all major database & Metadata, Citation Generator, Digital Object Identifier(DOI)
The open access supports the rights of users to read, download, copy, distribute, print, search, or link to the full texts of these articles provided they are properly acknowledged and cited.
Indexing In Google Scholar, SSRN, ResearcherID-Publons,
Semantic Scholar | AI-Powered Research Tool, Microsoft Academic, Academia.edu, arXiv.org, Research Gate, CiteSeerX, ResearcherID Thomson Reuters, Mendeley : reference manager, DocStoc, ISSUU, Scribd, and many more
International Journal of Creative Research Thoughts (IJCRT)
ISSN: 2320-2882 | Impact Factor: 7.97 | Impact Factor: 7.97 and Monthly-Peer-reviewed, and Refereed Journals.
Open Access Processing Charges or Publication fees with free DOI : ₹1500 INR for Indian author & 55$ for foreign International author.
Refereed Journal, Peer Journal and Indexed Journal
Publication Issue Frequency : Monthly (12 issue Per Year Annually)
Journal Discipline and Subject : Multidisciplinary,Monthly,Multilanguage (Regional language supported) .
Publisher and Managed By : IJPUBLICATION (ijpublication.org).
Publication Supported Languages: Allow All Multiple Languages (Regional language supported).
Provide DOI and Hard copy of Certificate.
High impact factor and 50+ index database and Fast paper publication.
Nominal Fee for Professional Research Services, Low cost research journal.
Publication Guidelines : COPE Guidelines
Quick, Fast, automatic Speedy Review and publication Process
Notification of Review Result and publication - Within 02-03 Days.
Provide Free e-certificate to all author and DOI (Digital Object Identifiers) to All Paper.
Download all digital data from website anytime lifetime available.
Indexing of paper in all major online journal databases.
Low Publication Charge 1500 INR per single paper Publication with Maximum 5 Author for indian author & 55$ for foreign International author.
Paper Submission Till : 29 June 2024
Review Results (Acceptance/Rejection) Notification : Within 02-03 Days
Paper Publication Time : Paper Publish: Within 02-03 Days after submitting all the required documents.
Submit your Paper Submit your paper
Call For Paper (Volume 12 | Issue 6 | Month- June 2024)
Licence and Indexing
Indexing In Google Scholar, ResearcherID Thomson Reuters, Mendeley : reference manager, Academia.edu, arXiv.org, Research Gate, CiteSeerX, DocStoc, ISSUU, Scribd, and many more | High Impact Factor: 7.97 | Digital object identifier (DOI) and Hard Copy of certificate Provided.
Licence
DOI
ISSN Approved Impact Factor: 7.97
Creative Common
Valid as per new UGC Gazette regulations 
Features
Impact Factor: 7.97 and ISSN approved. Impact Factor: 7.97 Calculated by google scholar Call For Paper (Volume 12 | Issue 6 | Month- June 2024) Quick, Fast, automatic Speedy Review Process Notification of Review Result - Within 02-03 Days. Publication of Paper - Within 02-03 Days.
Provide Free DOI(Digital Object Identifiers) to All Paper. Provide Hard copy of certificate based on request. Indexing of paper in all major online journal databases. SEO effective and Automated Metadata Citation Generator.
Open-Access peer reviewed International Journal Fully Automated and Secure https Website Author can Check Publication Process status online. EMail and SMS notification to the author for each Process stage. Paper and Soft Copy of "Certificate" Available life time on website.
Qualifed & Experience Reviewers from Well-known Institutes/Universities among the world. Social Media, Email and Call Support 24*7. Google Scholar, ResearcherID Thomson Reuters Indexing. Author Research Guidelines & Support.
Indexing Partners
Call For Paper June 2024
Call For Papers
June 2024
Volume 12 | Issue 6
Last Date :
30-Jun-2024
Submit Manuscript Online Impact Factor: 7.97 Review Results : Within 02-03 Days Paper Publication : Within 02-03 Days
June 2024
Volume 12 | Issue 6
Last Date :
30-Jun-2024
Submit Manuscript Online Impact Factor: 7.97 Review Results : Within 02-03 Days Paper Publication : Within 02-03 Days
Published Issue Details
For Authors
Forms / Downloads
Other IMP Links
Indexing Partner
Research Area
LICENSE
ISSN and 7.97 Impact Factor Details
ISSN: 2320-2882 Impact Factor: 7.97 and ISSN APPROVED Journal Starting Year (ESTD) : 2013
ISSN and 7.97 Impact Factor Details
ISSN: 2320-2882 Impact Factor: 7.97 and ISSN APPROVED Journal Starting Year (ESTD) : 2013
DOI Details
CONFERENCE
CONFERENCE MANAGMENT & PUBLICATION CONFERENCE PROPOSAL
RECENT CONFERENCE
CONFERENCE PROPOSAL CONFERENCE PROCEEDINGS
CONFERENCE PROPOSAL CONFERENCE PROCEEDINGS
For Reviewer /Referral (RMS) Earn 500 per paper
Important Links
NEWS & Conference
Digital Library
IJCRT RMS | Earn 500 Per Paper.
Open Access
LICENSE
Indexing Partner
Scholarly open access journals, Peer-reviewed, and Refereed Journals, Impact factor 7.97 (Calculate by google scholar and Semantic Scholar | AI-Powered Research Tool) , Multidisciplinary, Monthly, Indexing in all major database & Metadata, Citation Generator, Digital Object Identifier(DOI)
