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

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

214
views

0
downloads

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

Collections

Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Forward Kinematics of the 3RPR planar Parallel Manipulators Using Real Coded Genetic Algorithms Rolland, Luc; Chandra, Rohitash (2009-09-16) This article examines Genetic Algorithms to solve the forward kinematics problem applied to planar parallel manipulators. Most of these manipulators can be modeled by the tripod 3-RPR.
Forward Kinematics of the 6-6 general Parallel Manipulator Using Real Coded Genetic Algorithms Rolland, Luc; Chandra, Rohitash (2009-07-17) This article examines an optimization method to solve the forward kinematics problem (FKP) applied to parallel manipulators. Based on Genetic Algorithms (GA), a non-linear equation system solving problem is converted into an optimization one. The majority of truly parallel manipulators can be modeled by the 6-6 which is an hexapod constituted by a fixed base and a mobile platform attached to six kinematics chains with linear (prismatic) actuators located between two ball joints. Parallel manipulator kinemat...
Exact Solutions of Effective Mass Dirac Equation with Non-PT-Symmetric and Non-Hermitian Exponential-type Potentials Arda, Altug; Sever, Ramazan (2009-09-01) By using a two-component approach to the one-dimensional effective mass Dirac equation, bound states are investigated under the effect of two new non-PT-symmetric and non-Hermitian exponential type potentials. It is observed that the Dirac equation can be mapped into a Schrodinger-like equation by rescaling one of the two Dirac wave functions in the case of the position-dependent mass. The energy levels and the corresponding Dirac eigenfunctions are found analytically.
Application of a Robust Multigrid Technique for the Parallel Solution of Initial-Boundary Value Problems Martynenko, S.I.; Gökalp, İskender; Bakhtin, V.A.; Karaca, Mehmet; Toktaliev, P.D.; Semenev, P.A. (2022-12-01) This article is devoted to the construction of a parallel multigrid algorithm for the numerical solution of (non)linear initial-boundary value problems (implicit schemes) based on a robust multigrid technique (RMT). A distinctive feature of the proposed algorithm is the possibility of the parallel solution of initial-boundary value problems and initial-boundary value problems in a unified manner involving 3m independent computers (threads, if the OpenMP parallelization technology is used), m = 1, 2, 3, …. C...
STABILITY OF CONTROL FORCES IN REDUNDANT MULTIBODY SYSTEMS IDER, SK (1996-01-03) In this paper inverse dynamics of redundant multibody systems using a minimum number of control forces is formulated. It is shown that the control forces and the task accelerations may become noncausal at certain configurations, yielding the dynamical equation set of the system to be singular. For a given set of tasks, each different set of actuators leads to a different system motion and also to different singular configurations. To avoid the singularities in the numerical solution, the dynamical equations...

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.