Optimal Path Planning for a Dynamic Platform
| Authors: | Jan Horn-Yong, University of Feng Chia, Taiwan
Lin Chun-Liang, National Chung Hsing University, Taiwan
Lin Jr-Rong, University of Feng Chia, Taiwan |
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| Topic: | 3.2 Cognition and Control ( AI, Fuzzy, Neuro, Evolut.Comp.) |
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| Session: | Genetic and Evolutionary Algorithms |
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| Keywords: | linear motors, kinematics, genetic algorithms, path planning |
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Abstract
This paper presents a complete modelling, singularity characterization and path planning design for a newly developed 3 legs 6 degree-of-freedoms (DOFs) parallel manipulator. In the presented architecture, the base platform has three linear slideways actuated respectively by a linear DC motor, and each extensible vertical link connecting the upper and base platforms is actuated by an inductive AC servo motor. Special emphasis is put on characterizing the platform singularity characterization and singularity avoidance of the moving platform path planning based on DNA algorithms. A new path planning scheme is proposed which uses a DNA search algorithm, whose coding technique speeds up the execution of DNA search, for fast path generation on the available workspace. Copyright © 2005 IFAC
