Saleh Tabandeh

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— Inverse kinematics is a nonlinear problem that may have multiple solutions. A Genetic Algorithm(GA) for solving the inverse kinematics of a serial robotic manipulator is presented. The algorithm is capable of finding multiple solutions of the inverse kinematics through niching methods. Despite the fact that the number and position of solutions in the(More)
SUMMARY Inverse kinematics (IK) is a nonlinear problem that may have multiple solutions. A modified genetic algorithm (GA) for solving the IK of a serial robotic manipulator is presented. The algorithm is capable of finding multiple solutions of the IK through niching methods. Despite the fact that the number and position of solutions in the search space(More)
Modular and Reconfigurable Robots (MRR) are a breed of industrial robots designed for today's flexible and versatile production facilities. MRRs can be assembled in various ways to achieve numerous distinct Kinematic configurations (KC). In MRRs, the problem of finding the most suitable KC for a specific task from a predefined set of modules is called(More)
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