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Redundant Space Manipulator Optimization Design Based on Genetic Algorithm of Immunity

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Intelligent Computing (ICIC 2006)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 4113))

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Abstract

To solve the problem of designing a one fault tolerant, one degree of redundancy, space manipulator; a new multi-mode function optimization algorithm is presented. Kinematics redundancy is an important method to improve the reliability of a space manipulator. A kinematics redundant manipulator design bears multi-parameters, non-linearity and multi-mode. This problem can’t be solved by a conventional optimization method. By simulating antibody search mechanism, combined with immune system theory, the antibody diversity is maintained, and full-scale searching is carried out- realizing the multi-parameters non-linear multi-mode manipulator design. The design example shows that the presented algorithm is effective.

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References

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Author information

Authors and Affiliations

  1. Software College, Dahongying Education Group, Ningbo, 315175, China

    Huan Li

  2. Civil Aviation College, Nanjing University of Aeronautics and Astronautics, Yudao Street, Nanjing, 210016, China

    Jianmin Jiao & Hongfu Zuo

Authors
  1. Huan Li
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  2. Jianmin Jiao
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  3. Hongfu Zuo
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Editor information

Editors and Affiliations

  1. Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui, China

    De-Shuang Huang

  2. Carnegie Mellon University,  

    Kang Li

  3. School of Electronics, Electrical Engineering and Computer Science, Queen’s University Belfast, Stranmillis Road, BT9 5AH, Belfast, UK

    George William Irwin

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© 2006 Springer-Verlag Berlin Heidelberg

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Li, H., Jiao, J., Zuo, H. (2006). Redundant Space Manipulator Optimization Design Based on Genetic Algorithm of Immunity. In: Huang, DS., Li, K., Irwin, G.W. (eds) Intelligent Computing. ICIC 2006. Lecture Notes in Computer Science, vol 4113. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11816157_89

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  • DOI: https://doi.org/10.1007/11816157_89

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-37271-4

  • Online ISBN: 978-3-540-37273-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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