An optimum path planning for cassino parallel manipulator by using inverse dynamics
作者： G. Carbone , M. Ceccarelli , P. J. Oliveira , S. F. P. Saramago , J. C. M. Carvalho
DOI: 10.1017/S0263574707003839
关键词: Computer science 、 Motion planning 、 Mathematical optimization 、 Kinematics 、 Manipulator 、 Control theory 、 Parallel manipulator 、 Robotics 、 Inverse dynamics 、 Artificial intelligence 、 Genetic algorithm 、 Path (graph theory)
摘要: In this paper, a novel algorithm is formulated and implemented for optimum path planning of parallel manipulators. A multi-objective optimisation problem has been an efficient numerical solution procedure through kinematic dynamic features manipulator operation. Computational economy obtained by properly using genetic to search optimal spline-functions. Numerical characteristics the solving have outlined example applied Cassino Parallel Manipulator (CaPaMan) both design purposes.
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