On Solving the Forward Kinematics of the 6-6 General Parallel Manipulator with an Efficient Evolutionary Algorithm

Rolland L., Chandra R.

18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, Udine, Italy, 5 - 08 July 2010, pp.117-118 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Udine
  • Country: Italy
  • Page Numbers: pp.117-118
  • Middle East Technical University Affiliated: Yes


The G3-PCX genetic algorithm is compared with hybrid meta-heuristic approaches for solving the forward kinematics problem of the 6-6 general parallel manipulator. The G3-PCX shows improvements in terms of accuracy, response time and reliability. Several experiments confirm solving the given problem in less than 1 second. It also reports all the 16 unique real solutions which are verified by an exact algebraic method. This opens the way to simulation and certification applications.