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

Liang Shun Ma; Kuang Rong Hao; Yong Sheng Ding

doi:10.4028/www.scientific.net/AMM.303-306.1674

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 303-306Forward Kinematics of Six-DOF Parallel Robot Based...

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

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.