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

Date

2010-07-08

Author

Rolland, Luc
Chandra, Rohitash

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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.

Subject Keywords

Forward kinematics problem, Unique real solution, General parallel manipulator

URI

https://hdl.handle.net/11511/65106

Conference Name

18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control

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Engineering, Conference / Seminar

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Citation Formats

L. Rolland and R. Chandra, “On Solving the Forward Kinematics of the 6-6 General Parallel Manipulator with an Efficient Evolutionary Algorithm,” Udine, ITALY, 2010, p. 117, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/65106.