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.
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.