SOLVING THE FORWARD KINEMATICS OF PARALLEL MANIPULATORS WITH A GENETIC ALGORITHM

Authors
BOUDREAU R TURKKAN N
Citation
R. Boudreau et N. Turkkan, SOLVING THE FORWARD KINEMATICS OF PARALLEL MANIPULATORS WITH A GENETIC ALGORITHM, Journal of robotic systems, 13(2), 1996, pp. 111-125
Citations number
24
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Application, Chemistry & Engineering","Robotics & Automatic Control
Journal title
Journal of robotic systems → ACNP
ISSN journal
07412223
Volume
13
Issue
2
Year of publication
1996
Pages
111 - 125
Database
ISI
SICI code
0741-2223(1996)13:2<111:STFKOP>2.0.ZU;2-X
Abstract
A floating point genetic algorithm is proposed to solve the forward ki nematic problem for parallel manipulators. This method, adapted from s tudies in the biological sciences, allows the use of inverse kinematic solutions to solve forward kinematics as an optimization problem. The method is applied to two 3-degree-of-freedom planar parallel manipula tors and to a 3-degree-of-freedom spherical manipulator. The method co nverges to a solution within a broader search domain compared to a New ton-Raphson scheme. (C) 1996 John Wiley & Sons, Inc.