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
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;
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
DOI :
10.1109/KES.2000.884170
