Abstract
In this chapter a novel algorithm is formulated and implemented for optimum path planning of parallel manipulators. A multiobjective optimization problem has been formulated for an efficient numerical solution procedure through kinematic and dynamic features of manipulator operation. Computational economy has been obtained by properly using a genetic algorithm to search an optimal solution for path spline functions. Numerical characteristics of the numerical solving procedure have been outlined through a numerical example applied to CaPaMan, Cassino Parallel Manipulator, both for path planning and for design purposes.
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Carvalho, J.C.M., Saramago, S.F.P. (2013). Path Planning for Grasping Tasks . In: Carbone, G. (eds) Grasping in Robotics. Mechanisms and Machine Science, vol 10. Springer, London. https://doi.org/10.1007/978-1-4471-4664-3_12
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DOI: https://doi.org/10.1007/978-1-4471-4664-3_12
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