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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.