Study of CRS 5 DOF Jacobian and Simulation of it’s Singularity Using GA
Tolba, F., Abdelhameed, M., Marey, M., Shenouda, M. (2017). Study of CRS 5 DOF Jacobian and Simulation of it’s Singularity Using GA. EKB Journal Management System, 3(1), 59-65. doi: 10.21608/sjou.2017.31617
Farid A. Tolba; Magdy M. Abdelhameed; Mohammed Marey; Michael Nasr Shenouda. "Study of CRS 5 DOF Jacobian and Simulation of it’s Singularity Using GA". EKB Journal Management System, 3, 1, 2017, 59-65. doi: 10.21608/sjou.2017.31617
Tolba, F., Abdelhameed, M., Marey, M., Shenouda, M. (2017). 'Study of CRS 5 DOF Jacobian and Simulation of it’s Singularity Using GA', EKB Journal Management System, 3(1), pp. 59-65. doi: 10.21608/sjou.2017.31617
Tolba, F., Abdelhameed, M., Marey, M., Shenouda, M. Study of CRS 5 DOF Jacobian and Simulation of it’s Singularity Using GA. EKB Journal Management System, 2017; 3(1): 59-65. doi: 10.21608/sjou.2017.31617

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

Scientific Journal of October 6 University
Article 8, Volume 3, Issue 1, January 2017, Page 59-65  XML PDF (642.16 K)
Document Type: Original Article
DOI: 10.21608/sjou.2017.31617
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Authors
Farid A. Tolba1; Magdy M. Abdelhameed1; Mohammed Marey2; Michael Nasr Shenouda1
1Mechatronics Engineering Department Ain Shams University Cairo, Egypt
2Faculty of computer & information sciences, Ain Shams University, Cairo, Egypt
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.
Keywords
Singular configuration; CRS arm robot; servoing and singularity
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