DocumentCode
2631854
Title
Utilization of differential evolution in inverse kinematics solution of a parallel redundant manipulator
Author
Huapeng, Wu ; Handroos, Heikki
Author_Institution
Dept. of Mech. Eng., Lappeenranta Univ. of Technol., Finland
Volume
2
fYear
2000
fDate
2000
Firstpage
812
Abstract
A novel type of redundant parallel manipulator is presented and studied. The inverse kinematics model of the manipulator is postulated. The static stiffness of the manipulator is discussed. To achieve a minimum deflection in the solution of the inverse kinematics problem the differential evolution method is used. In the inverse kinematics solution also the appropriate link motions to avoid collision and joint limits are selected
Keywords
collision avoidance; evolutionary computation; redundant manipulators; collision avoidance; differential evolution; inverse kinematics model; joint limits; link motions; minimum deflection; parallel redundant manipulator; static stiffness; End effectors; Engine cylinders; Hydraulic actuators; Inverse problems; Kinematics; Manipulators; Mechanical engineering; Motion analysis; Optimization methods; Robot control;
fLanguage
English
Publisher
ieee
Conference_Titel
Knowledge-Based Intelligent Engineering Systems and Allied Technologies, 2000. Proceedings. Fourth International Conference on
Conference_Location
Brighton
Print_ISBN
0-7803-6400-7
Type
conf
DOI
10.1109/KES.2000.884170
Filename
884170
Link To Document