Solution of the Forward Kinematics of Parallel Robots Based on Constraint Curves

Peidró, Adrián; Payá, Luis; Cebollada, Sergio; Román, Vicente

doi:10.1007/978-3-030-92442-3_20

Cited by 1 publication

(1 citation statement)

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“…In all other situations, it is necessary to have recourse to numerical minimisation methods, as is done in [26,27]. Other authors have proposed to approach the problem with a search on manifolds [28], constraint curves [29], or simplifying the equations by including as input the value of the passive angles, which were previously determined [30].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Modelling of a 3RRR Planar Parallel Robot Using Genetic Algorithms and Neural Networks

García-Samartín,

Barrientos

2023

Machines

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Kinematic modelling of parallel manipulators poses significant challenges due to the absence of analytical solutions for the Forward Kinematics (FK) problem. This study centres on a specific parallel planar robot, specifically a 3RRR configuration, and addresses the FK problem through two distinct methodologies: Genetic Algorithms (GA) and Neural Networks (NN). Utilising the Inverse Kinematic (IK) model, which is readily obtainable, both GA and NN techniques are implemented without the need for closed-loop formulations or non-systematic mathematical tools, allowing for easy extension to other robot types. A comparative analysis against an existing numerical method demonstrates that the proposed methodologies yield comparable or superior performance in terms of accuracy and time, all while reducing development costs. Despite GA’s time consumption limitations, it excels in path planning, whereas NN delivers precise results unaffected by stochastic elements. These results underscore the feasibility of using neural networks and genetic algorithms as viable alternatives for real-time kinematic modelling of robots when closed-form solutions are unavailable.

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