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

2010-07-08
Rolland, Luc
Chandra, Rohitash
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.
18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control

Suggestions

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.
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...
Parallel processing of two-dimensional euler equations for compressible flows
Doǧru, K.; Aksel, M.h.; Tuncer, İsmail Hakkı (2008-12-01)
A parallel implementation of a previously developed finite volume algorithm for the solution of two-dimensional, unsteady, compressible Euler equations is given. The conservative form of the Euler equations is discretized with a second order accurate, one-step Lax-Wendroff scheme. Local time stepping is utilized in order to accelerate the convergence. For the parallel implementation of the method, the solution domain is partitioned into a number of subdomains to be distributed to separate processors for par...
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.