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Initial population generation strategy for evolution of planar hybrid manipulators

Published: 02 July 2015 Publication History

Abstract

A strategy for generation of random population of planar hybrid manipulators with specific number of degrees of freedom (dof) is proposed in this paper. For a given number of dof and fixed maximum number of links in use, the possibilities of generating diverse hybrid morphologies is explored. The aim of the work is to randomly generate basic morphologies of hybrid robotic manipulators with specific number of dof, to serve the evolution of an optimal mechanism for a given task using evolutionary algorithms. This paper focuses at the former part of the problem and presents an algorithm for population generation. A concept of Mechanism Assembly Matrix is introduced which helps both for random generation and for representation of the morphologies. Some specific number of cell locations of the proposed matrix are randomly selected and filled with one to represent a corresponding joint. Collectively, these cells represent one morphology. The planar mechanisms obtained from the random generation are successfully matching to the possible solutions for the given number of degrees of freedom.

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Cited By

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  • (2016)On the Jacobian computation of planar hybrid manipulators: A unified approach2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)10.1109/RAHA.2016.7931885(1-7)Online publication date: Dec-2016

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cover image ACM Other conferences
AIR '15: Proceedings of the 2015 Conference on Advances In Robotics
July 2015
413 pages
ISBN:9781450333566
DOI:10.1145/2783449
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 02 July 2015

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Author Tags

  1. evolutionary algorithms
  2. hybrid manipulators
  3. initial population generation
  4. morphology synthesis

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AIR '15
AIR '15: Advances In Robotics
July 2 - 4, 2015
Goa, India

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Overall Acceptance Rate 69 of 140 submissions, 49%

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View all
  • (2016)On the Jacobian computation of planar hybrid manipulators: A unified approach2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)10.1109/RAHA.2016.7931885(1-7)Online publication date: Dec-2016

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