Closed form solutions for inverse kinematics approximation of general 6R manipulators

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@Article{Chapelle:2004:MMT,
  author =       "Frederic Chapelle and Philippe Bidaud",
  title =        "Closed form solutions for inverse kinematics
                 approximation of general {6R} manipulators",
  journal =      "Mechanism and Machine Theory",
  year =         "2004",
  month =        mar,
  volume =       "39",
  pages =        "323--338",
  number =       "3",
  abstract =     "This paper presents an original use of Evolutionary
                 Algorithms in order to approximate by a closed form the
                 inverse kinematic model (IKM) of analytical,
                 non-analytical and general (i.e. with an arbitrary
                 geometry) manipulators. The objective is to provide a
                 fast and general solution to the inverse kinematic
                 problem when it is extensively evaluated as in 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
                 the GMF Arc Mate are approximated before to apply the
                 algorithm to general 6R manipulators.",
  owner =        "wlangdon",
  URL =          "http://www.sciencedirect.com/science/article/B6V46-4B1XNXT-1/2/2bf40af1f930c87f19d6fcc130f2f57a",
  keywords =     "genetic algorithms, genetic programming, Inverse
                 kinematics, Mechanical design, Manipulators, Genetic
                 programming, Symbolic regression",
  DOI =          "doi:10.1016/j.mechmachtheory.2003.09.003",
}

Genetic Programming entries for Frederic Chapelle Philippe Bidaud

Citations