- author = "Frederic Chapelle and Philippe Bidaud",
- title = "A closed form for inverse kinematics approximation of general {6R} manipulators using genetic programming",
- booktitle = "IEEE International Conference on Robotics and Automation (ICRA'01)",
- publisher = "IEEE",
- address = "Seoul, Korea",
- pages = "3364--3369",
- month = "21-28 " # may,
- year = "2001",
- volume = "4",
- 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",
- ISSN = "1050-4729",
-
DOI = "
doi:10.1109/ROBOT.2001.933137",
- size = "6 pages",
- 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.",
-
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}",
