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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© 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
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