A closed form for inverse kinematics approximation of general 6R manipulators using genetic programming

Created by W.Langdon from gp-bibliography.bib Revision:1.4192

  author =       "Frederic Chapelle and Philippe Bidaud",
  title =        "A closed form for inverse kinematics approximation of
                 general {6R} manipulators using genetic programming",
  booktitle =    "IEEE International Conference on Robotics and
                 Automation (ICRA'01)",
  publisher =    "IEEE",
  address =      "Seoul, Korea",
  pages =        "3364--3369",
  month =        "21-28 " # may,
  year =         "2001",
  volume =       "4",
  keywords =     "genetic algorithms, genetic programming, industrial
                 manipulators, manipulator kinematics, symbol
                 manipulation, 6R manipulators, approximation,
                 evolutionary algorithms, industrial manipulators,
                 inverse kinematics, joint variables, symbolic
                 regression, steady state, demes, ADF, parsimony
                 preasure, subsample training data, learning base",
  ISSN =         "1050-4729",
  DOI =          "doi:10.1109/ROBOT.2001.933137",
  size =         "6 pages",
  abstract =     "We present an original use of evolutionary algorithms
                 in order to approximate by a closed form the inverse
                 kinematic model of analytical (non-analytical) and
                 general manipulators. The objective is to provide a
                 fast and general solution to the inverse kinematic
                 problem when it is extensively evaluated in the design
                 processes of manipulators. A mathematical function is
                 evolved through genetic programming according to the
                 known direct kinematic model to determine an analytical
                 expression which approximates the joint variable
                 solution for a given end-effector configuration. As an
                 illustration of this evolutionary symbolic regression
                 process, the inverse kinematic models of the PUMA and
                 GMF Arc Mate are approximated before applying the
                 algorithm to general 6R manipulators.",
  notes =        "INSPEC Accession Number:7018142

                 p2266 using integer constants. No sign of ADF?? 50 gens
                 in 30 mins (pop size?) on Silicon Graphics O2. p3368
                 {"}a tournament of 200 individuals{"} -- translation

                 Cites A.P.Fraser's gpc++ and Thomas Weinbrenner's GP
                 kernel 0.5.2 cf. \cite{weinbrenner:1997:diploma}",

Genetic Programming entries for Frederic Chapelle Philippe Bidaud