Beta
ManageSearchChatDiscover
31617

Study of CRS 5 DOF Jacobian and Simulation of it’s Singularity Using GA

Article

Last updated: 22 Jan 2023

OverviewSimilar Items

Subjects

-

Tags

Engineering

Abstract

In this paper we will be discussing the singular configuration of CRS arm robot. Usually, in an open control scheme it is not that important to study your arm robot singularity as you can adjust your path as needed but in our visual servoing application which is considered a closed control scheme, it is very important to study your arm singularity and thus be able to avoid it or control the arm around these points.

DOI

10.21608/sjou.2017.31617

Keywords

Singular configuration, CRS arm robot, servoing and singularity

Authors

First Name

Farid

Last Name

Tolba

MiddleName

A.

Affiliation

Mechatronics Engineering Department Ain Shams University Cairo, Egypt

Email

-

City

-

Orcid

-

First Name

Magdy

Last Name

Abdelhameed

MiddleName

M.

Affiliation

Mechatronics Engineering Department Ain Shams University Cairo, Egypt

Email

-

City

-

Orcid

-

First Name

Mohammed

Last Name

Marey

MiddleName

-

Affiliation

Faculty of computer & information sciences, Ain Shams University, Cairo, Egypt

Email

-

City

-

Orcid

-

First Name

Michael

Last Name

Shenouda

MiddleName

Nasr

Affiliation

Mechatronics Engineering Department Ain Shams University Cairo, Egypt

Email

-

City

-

Orcid

-

Volume

3

Article Issue

1

Related Issue

5252

Issue Date

2017-01-01

Receive Date

2014-11-08

Publish Date

2017-01-01

Page Start

59

Page End

65

Print ISSN

2314-8640

Online ISSN

2356-8119

Article File

SJOU_Volume 3_Issue 1_Pages 59-65.pdf

PDF . 657.6kB

Link

https://sjou.journals.ekb.eg/article_31617.html

Detail API

https://sjou.journals.ekb.eg/service?article_code=31617

Order

8

Type

Original Article

Type Code

724

Publication Type

Journal

Publication Title

Scientific Journal of October 6 University

Publication Link

https://sjou.journals.ekb.eg/

MainTitle

-

Details

Type

Article

Created At

22 Jan 2023