Abstract
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 con rm solving the given problem in less than 1 second. It also reports all the 16 unique real solutions which are veri ed by an exact algebraic method. This opens the way to simulation and certi cation applications.
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Rolland, L., Chandra, R. (2010). On Solving the Forward Kinematics of the 6-6 General Parallel Manipulator with an Efficient Evolutionary Algorithm. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_13
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_13
Publisher Name: Springer, Vienna
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