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題 名 | Singularity Analysis and Path Planning for a MDOF Manipulator |
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作 者 | Lin, Chun-Liang; Lin, Jr-Rong; Jan, Horn-Yong; | 書刊名 | 中國工程學刊 |
卷 期 | 30:5 2007.07[民96.07] |
頁 次 | 頁917-922 |
分類號 | 448.5 |
關鍵詞 | Parallel manipulator; Kinematics; Singularity; Genetic algorithm; Path planning; |
語 文 | 英文(English) |
英文摘要 | 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. |
本系統中英文摘要資訊取自各篇刊載內容。