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, İtalya, 5 - 08 Temmuz 2010, ss.117-118 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Udine
  • Basıldığı Ülke: İtalya
  • Sayfa Sayıları: ss.117-118
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

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.