A meta-heuristic paradigm for solving the forward kinematics of 6&amp;#x2013;6 general parallel manipulator

Chandra, Rohitash; Frean, Marcus; Rolland, Luc

doi:10.1109/cira.2009.5423212

Cited by 6 publications

(5 citation statements)

References 34 publications

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“…Preliminary tests led to several solutions which were absolutely not in correspondence with the exact proven ones (Chandra, Frean, & Rolland, 2009). In other words, the selected fitness function was incorrect since it did find other solutions or solutions which were not the results of solving the FKP.…”

Section: Extended Fitness Functionmentioning

confidence: 98%

Global–local population memetic algorithm for solving the forward kinematics of parallel manipulators

Chandra

Rolland

2014

Connection Science

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Memetic algorithms (MA) are evolutionary computation methods that employ local search to selected individuals of the population. This work presents global-local population MA for solving the forward kinematics of parallel manipulators. A real-coded generation algorithm with features of diversity is used in the global population and an evolutionary algorithm with parent-centric crossover operator which has local search features is used in the local population. The forward kinematics of the 3RPR and 6-6 leg manipulators are examined to test the performance of the proposed method. The results show that the proposed method improves the performance of the real-coded genetic algorithm and can obtain highquality solutions similar to the previous methods for the 6-6 leg manipulator. The accuracy of the solutions and the optimisation time achieved by the methods in this work motivates for real-time implementation of the 3RPR parallel manipulator.

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Section: Extended Fitness Functionmentioning

confidence: 98%

Global–local population memetic algorithm for solving the forward kinematics of parallel manipulators

Chandra

Rolland

2014

Connection Science

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“…Substitution of d j , θ j , and z j into Eqn. (11) yields coordinates of B j in term of θ. Consequently, the distance l j (θ) can be expressed by…”

Section: Criteriamentioning

confidence: 99%

“…In addition to the well established methods (e.g., the elimination method [1,2,3], the continuation method [4,5], the Gröebner basis method [6,7] and the interval analysis method [8]), new approaches for dealing with this problem have been developed recently. These include methods based on neural networks [9], differential evolution [10], and meta-heuristic search technique [11], and the Gauss-Newton iterative method based on chaos and hyper-chaos [12].…”

Section: Introductionmentioning

confidence: 99%

Forward Kinematics Analysis and Tension Distribution of a Cable-Driven Sinking Winches Mechanism

Shao,

Wang,

Chen

et al. 2010

Preprint

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This paper concerns the forward kinematics and tension distribution of sinking winches mechanism, which is a type of four-cable-driven partly constrained parallel robot. Conventional studies on forward kinematics of cable-driven parallel robot assumed that all cables are taut. Actually, given the lengths of four cables, some cables may be slack when the platform is in static equilibrium. Therefore, in this paper, the tension state (tautness or slackness) of cables is considered in the forward kinematics model. We propose Traversal-Solving-Algorithm, which can indicate the tension state of cables, and further determine the pose of the platform, if the lengths of four cables are given. The effectiveness of the algorithm is verified by four examples. The results of this paper can be used to control sinking winches mechanism to achieve the level and stable motion of the platform, and to make the tension distribution of cables as uniform as possible.

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“…For inverse kinematics, a new quantum-behavioured particle swarm algorithm has been proposed recently (Dereli & Köker, 2020). A Meta-Heuristic Paradigm for solving the Forward Kinematics of 6-6 General Parallel Manipulator (Chandra et al, 2009). Also, inverse kinematics problems have been solved using the Firefly Algorithm (Rokbani et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

Optimization of DH Parameters of 6R Robotic Manipulator Using JAYA Approach

Kesaba

Choudhury

2022

International Journal of Manufacturing, Materials, and Mechanical Engineering

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Manipulation of robots is carried out by the operators through a sequence of commands. However, the accuracy of the manipulation is still hindered due to parameter uncertainty. This results in less accurate robotic operations and hence affects the job performance. Due to measurement errors and sensor faults, the operation of robots malfunctions. Generally, errors are reduced with the use of high precision sensors and correcting hardware faults. However, corrections can also be made on a software platform to handle the correction process. Presently, the Denavit–Hartenberg (DH) parameters of a robotic manipulator are optimized for forward kinematics problems. The optimization is carried out using the JAYA approach. The 6R MTAB Aristo XT robot is selected as a case study for the experimental validation of the proposed approach. Experimental results reveal that the optimization of DH parameters improves accuracy for forward kinematic estimation problems. The proposed JAYA approach can further be extended to other robotic manipulators for parameter optimization problems.

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A meta-heuristic paradigm for solving the forward kinematics of 6–6 general parallel manipulator

Cited by 6 publications

References 34 publications

Global–local population memetic algorithm for solving the forward kinematics of parallel manipulators

Global–local population memetic algorithm for solving the forward kinematics of parallel manipulators

Forward Kinematics Analysis and Tension Distribution of a Cable-Driven Sinking Winches Mechanism

Optimization of DH Parameters of 6R Robotic Manipulator Using JAYA Approach

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