2013•Applied Mechanics and MaterialsRequires access

Forward Kinematics of Six-DOF Parallel Robot Based on Adaptive Differential Evolution

Shun Liang, Kuangrong Hao, Yong Sheng Ding

Abstract

Parallel robot inverse kinematics solution is relatively easier to obtain than forward kinematics forward, this paper assumes that the forward kinematics of six-DOF parallel robot is given then using the kinematics inverse solution to approximate the forward solution. To improve efficiency and stability of the approximation, an adaptive parameters differential evolution algorithm is proposed and applied to the forward kinematics problem. The experimental results show that the modified algorithm can gain the forward kinematics of parallel robot efficiently.

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Available abstract

Key concepts: Inverse kinematics, Kinematics, Forward kinematics, Robot kinematics, Control theory (sociology), Kinematics equations, Computer science, Differential (mechanical device)