A closed form for inverse kinematics approximation of general 6R manipulators using genetic programming
Created by W.Langdon from
gp-bibliography.bib Revision:1.7970
- @InProceedings{Chapelle:2001:icra,
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author = "Frederic Chapelle and Philippe Bidaud",
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title = "A closed form for inverse kinematics approximation of
general {6R} manipulators using genetic programming",
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booktitle = "IEEE International Conference on Robotics and
Automation (ICRA'01)",
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publisher = "IEEE",
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address = "Seoul, Korea",
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pages = "3364--3369",
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month = "21-28 " # may,
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year = "2001",
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volume = "4",
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keywords = "genetic algorithms, genetic programming, industrial
manipulators, manipulator kinematics, symbol
manipulation, 6R manipulators, approximation,
evolutionary algorithms, industrial manipulators,
inverse kinematics, joint variables, symbolic
regression, steady state, demes, ADF, parsimony
preasure, subsample training data, learning base",
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ISSN = "1050-4729",
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DOI = "doi:10.1109/ROBOT.2001.933137",
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size = "6 pages",
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abstract = "We present an original use of evolutionary algorithms
in order to approximate by a closed form the inverse
kinematic model of analytical (non-analytical) and
general manipulators. The objective is to provide a
fast and general solution to the inverse kinematic
problem when it is extensively evaluated in the design
processes of manipulators. A mathematical function is
evolved through genetic programming according to the
known direct kinematic model to determine an analytical
expression which approximates the joint variable
solution for a given end-effector configuration. As an
illustration of this evolutionary symbolic regression
process, the inverse kinematic models of the PUMA and
GMF Arc Mate are approximated before applying the
algorithm to general 6R manipulators.",
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notes = "INSPEC Accession Number:7018142
p2266 using integer constants. No sign of ADF?? 50 gens
in 30 mins (pop size?) on Silicon Graphics O2. p3368
{"}a tournament of 200 individuals{"} -- translation
error?
Cites A.P.Fraser's gpc++ and Thomas Weinbrenner's GP
kernel 0.5.2 cf. \cite{weinbrenner:1997:diploma}",
- }
Genetic Programming entries for
Frederic Chapelle
Philippe Bidaud
Citations