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標題: Singularity analysis and path planning for a MDOF manipulator
作者: Lin, C.L.
Lin, J.R.
Jan, H.Y.
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.
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.
ISSN: 0253-3839
DOI: 10.1080/02533839.2007.9671318
Appears in Collections:電機工程學系所

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