The forward kinematics of the 6 - 6 parallel manipulator using an evolutionary algorithm based on generalized generation gap with parent - centric crossover

Rolland, L. and Chandra, Rohitash (2015) The forward kinematics of the 6 - 6 parallel manipulator using an evolutionary algorithm based on generalized generation gap with parent - centric crossover. Robotica, NA . pp. 1-22. ISSN 0263-5747

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Abstract

In this paper, a fast and efficient evolutional algorithm, called the G3-PCX has been implemented to solve the forward kinematics problem (FKP) of the general parallel manipulators being modeled by the 6-6 hexapod, constituted by a fixed and mobile platforms being non planar and non-symmetrical. The two platforms are connected by six linear actuators, each of which is located between one ball joint and one universal joint. Forward kinematics are formulated using Inverse Kinematics applying one position based equation system which is converted into an objective function by expressing the sum of squared error on kinematics chain lengths and mobile platform distances. In less than one second, the 16 unique real solutions are computed with improved accuracy when compared to previous methods.

Item Type:	Journal Article
Additional Information:	Published online only.
Subjects:	Q Science > QA Mathematics > QA76 Computer software
Divisions:	Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User:	Rohitash Chandra
Date Deposited:	29 Jul 2014 00:55
Last Modified:	28 Apr 2016 23:09
URI:	https://repository.usp.ac.fj/id/eprint/7550

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