Please use this identifier to cite or link to this item:
|標題:||Singularity analysis and path planning for a MDOF manipulator||作者:||Lin, C.L.
|關鍵字:||parallel manipulator;kinematics;singularity;genetic algorithms;path;planning;parallel;configurations;mechanism;geometry||Project:||Journal of the Chinese Institute of Engineers||期刊/報告no：:||Journal of the Chinese Institute of Engineers, Volume 30, Issue 5, Page(s) 917-922.||摘要:||
This paper presents singularity characterization and path planning design for a newly developed 3 leg 6 degree-of-freedom (DOFs) parallel manipulator. Special emphasis is placed on characterizing the platform singularity and singularity avoidance of path planning based on genetic algorithms. The path planning scheme proposed uses a real-coded genetic algorithm including a modified crossover and a swap mutation for searching out the shortest moving path in the available workspace.
|Appears in Collections:||電機工程學系所|
Show full item record
TAIR Related Article
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.