Solving the forward kinematics of parallel manipulators with a genetic algorithm

Journal of Robotic Systems

Volumn 13, Issue 2, 1996, Pages 111-125

  Boudreau, Roger ^a   Turkkan, Noyan ^a  

^a UNIVERSITÉ DE MONCTON   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

CONVERGENCE OF NUMERICAL METHODS; DEGREES OF FREEDOM (MECHANICS); DIGITAL ARITHMETIC; GENETIC ALGORITHMS; INVERSE KINEMATICS; OPTIMIZATION; PROBLEM SOLVING;

FORWARD KINEMATICS; PARALLEL MANIPULATORS;

MANIPULATORS;

EID: 0030083551     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1097-4563(199602)13:2<111::AID-ROB4>3.0.CO;2-W     Document Type: Article

References (24)

1. K. H. Hunt, "Structural kinematics of in-parallel-actuated robot arms," J. Mech. Transm. Autom. Des., 105(4), 705-712, 1983.
2. E. F. Fichter, "A Stewart platform-based manipulator: General theory and practical construction," Int. J. Rob. Res., 5(2), 157-182, 1986.
3. J. P. Merlet, Les Robots Parallèles, Traité des Nouvelles Technologies, série Robotique, Hermes, France, 1990.
4. V. Parenti-Castelli and C. Innocenti, "Forward displacement analysis of parallel mechanisms: Closed form solution of PRR-3S and PPR-3S structures," J. Mech. Des., 114, 68-73, 1992.
5. C. M. Gosselin, J. Sefroui, and M. J. Richard, "Solutions polynomiales au problème géométrique direct des manipulateurs parallèles plans à trois degrés de liberté," Mech. Mach. Theory, 27(2), 107-119, 1992.
6. C. M. Gosselin, J. Sefroui, and M. J. Richard, "On the direct kinematics of general spherical three-degree-of-freedom parallel manipulators," Proc. ASME Mech. Conf., 1992, pp. 7-11.
7. C. Zhang and S.-M. Song, "Forward kinematics of a class of parallel (Stewart) platforms with closed-form solutions," Proc. IEEE Int. Conf. Rob. Autom., 1991, pp. 2676-2681.
8. K. C. Cheok, J. L. Overholt, and R. R. Beck, "Exact methods for determining the kinematics of a Stewart platform using additional displacement sensors," J. Rob. Syst., 10(5), 689-707, 1993.
9. Z. Geng and L. S. Haynes, "Neural network solution for the forward kinematics problem of a Stewart platform," Rob. Comput. Integr. Manuf., 9(6), 485-495, 1992.
10. R. Boudreau, S. Darenfed, and C. Gosselin, "Efficient computation of the direct kinematics of parallel manipulators using polynomial networks," Proc. ASME Mech. Conf., Minneapolis, MN, 1994, Vol. 72, pp. 263-270.
11. J. H. Holland, Adaptation in Natural and Artificial Systems, The University of Michigan Press, Ann Arbor, 1975.
12. L. Davis, Handbook of Genetic Algorithms, Van Nostrand Reinhold, New York, 1991.
13. D. E. Goldberg, Genetic Algorithms in Search, Optimization and Machine Learning, Addison-Wesley, Reading, MA, 1989.
14. A. H. Wright, "Genetic algorithms for real parameter optimization," in Foundation of Genetic Algorithms, G. J. E. Rawlins, ed., Morgan Kaufmann, San Mateo, CA, 1991, pp. 205-218.
15. Z. Michalewicz, Genetic Algorithms, Springer-Verlag, New York, 1992.
16. A. H. Shirkhodaie and A. H. Soni, "Forward and inverse synthesis for a robot with three degrees of freedom," Proc. Comput. Simul. Conf., Montreal, 1987, pp. 851-856.
17. C. Gosselin and J. Angeles, "The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator," J. Mech. Transm. Autom. Des., 111(2), 202-207, 1988.
18. E. E. Peysah, "Determination of the position of the member of three-joint and two-joint four member assur groups with rotational pairs," (in Russian), Machinery, 5, 55-61, 1985.
19. G. H. Golub and C. F. Van Loan, Matrix Computations, The John Hopkins University Press, Baltimore, 1983.
20. J. K. Salisbury and J. J. Craig, "Articulated hands: Force control and kinematic issues," Int. J. Rob. Res., 1(1), 4-17, 1982.
21. J. Angeles and A. A. Rojas, "Manipulator inverse kinematics via condition number minimization and continuation," Int. J. Rob. Autom., 2, 61-69, 1987.
22. W. M. Craver, "Structural analysis and design of a three-degree-of-freedom robotic shoulder module," Master's dissertation, The University of Texas at Austin, 1989.
23. D. J. Cox and D. Tesar, "The dynamic model of a three-degree-of-freedom parallel robotic shoulder module," Fourth Int. Conf. on Advanced Robotics, Columbus, Ohio, 13-15, 1989.
24. C. M. Gosselin and E. Lavoie, "On the kinematic design of spherical three-degree-of-freedom parallel manipulators," Int. J. Rob. Res., 12(4), 394-402, 1993.