{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,21]],"date-time":"2025-11-21T17:40:26Z","timestamp":1763746826511,"version":"3.37.0"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2009,5,26]],"date-time":"2009-05-26T00:00:00Z","timestamp":1243296000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2010,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>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 depends on the position and orientation of the end-effector as well as the kinematic configuration (KC) of the robot, the number of GA parameters that must be set by a user are limited to a minimum through the use of an adaptive niching method. The only requirement of the algorithm is the forward kinematics (FK) equations which can be easily obtained from the Denavit\u2013Hartenberg link parameters and joint variables of the robot. For identifying and processing the outputs of the proposed GA, a modified filtering and clustering phase is also added to the algorithm. For the postprocessing stage, a numerical IK solver is used to achieve convergence to the desired accuracy. The algorithm is validated on three KCs of a modular and reconfigurable robot (MRR).<\/jats:p>","DOI":"10.1017\/s0263574709005803","type":"journal-article","created":{"date-parts":[[2009,5,26]],"date-time":"2009-05-26T08:45:46Z","timestamp":1243327546000},"page":"493-507","source":"Crossref","is-referenced-by-count":36,"title":["An adaptive niching genetic algorithm approach for generating multiple solutions of serial manipulator inverse kinematics with applications to modular robots"],"prefix":"10.1017","volume":"28","author":[{"given":"Saleh","family":"Tabandeh","sequence":"first","affiliation":[]},{"given":"William W.","family":"Melek","sequence":"additional","affiliation":[]},{"given":"Christopher M.","family":"Clark","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,5,26]]},"reference":[{"key":"S0263574709005803_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/4235.735432"},{"key":"S0263574709005803_ref2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258708"},{"key":"S0263574709005803_ref30","doi-asserted-by":"publisher","DOI":"10.1162\/106365600568202"},{"volume-title":"Rotations, Quaternions, and Double Groups","year":"1986","author":"Altmann","key":"S0263574709005803_ref21"},{"key":"S0263574709005803_ref26","first-page":"115","article-title":"Simulated binary crossover for continuous search space","volume":"9","author":"Deb","year":"1995","journal-title":"Complex Syst."},{"key":"S0263574709005803_ref12","first-page":"2330","volume-title":"IEEE Conference on Mechatronics and Automation","author":"Sheng","year":"2006"},{"key":"S0263574709005803_ref24","unstructured":"24. Goldberg D. E. and Wang L. , \u201cAdaptive Niching via Coevolutionary Sharing\u201d, Technical Report, IlliGAL Report No. 97007 (Urbana, IL: University of Illinois at Urbana-Champaign, 1997)."},{"key":"S0263574709005803_ref6","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140699"},{"key":"S0263574709005803_ref11","doi-asserted-by":"publisher","DOI":"10.1049\/cp:19971191"},{"key":"S0263574709005803_ref14","first-page":"3364","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Chapelle","year":"2001"},{"key":"S0263574709005803_ref3","doi-asserted-by":"crossref","unstructured":"3. Kucuck S. and Bingul Z. , \u201cThe inverse kinematics solutions of fundamental robot manipulators with offset wrist,\u201d IEEE Int. Conf. Mechatronics 197\u2013202, (Jul. 2005).","DOI":"10.1109\/ICMECH.2005.1529252"},{"key":"S0263574709005803_ref27","first-page":"30","article-title":"A combined genetic adaptive search (GeneAS) for engineering design","volume":"26","author":"Deb","year":"1995","journal-title":"Comput. Sci. Inform."},{"key":"S0263574709005803_ref13","first-page":"1","volume-title":"IEEE Conference on Robotics, Automation and Mechatronics","author":"Zhang","year":"2006"},{"volume-title":"Proceedings of the International Conference on Changeable, Agile, Reconfigurable and Virtual Production","year":"2007","author":"Li","key":"S0263574709005803_ref31"},{"key":"S0263574709005803_ref17","first-page":"1815","volume-title":"Proceedings of IEEE World Congress on Computational Intelligence","author":"Tabandeh","year":"2006"},{"key":"S0263574709005803_ref15","first-page":"1840","volume-title":"IEEE International Conference on Systems, Man and Cybernetics","author":"Karla","year":"2003"},{"key":"S0263574709005803_ref16","first-page":"5356","volume-title":"IEEE International Conference on Systems, Man and Cybernetics","author":"Karla","year":"2004"},{"key":"S0263574709005803_ref8","first-page":"1647","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Chen","year":"1998"},{"volume-title":"Proceedings of 1999 Congress on Evolutionary Computation","year":"1999","author":"Neef","key":"S0263574709005803_ref25"},{"key":"S0263574709005803_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/100.486658"},{"key":"S0263574709005803_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/70.246059"},{"key":"S0263574709005803_ref20","doi-asserted-by":"crossref","DOI":"10.1515\/9780691211701","volume-title":"Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace, and Virtual Reality","author":"Kuipers","year":"1999"},{"key":"S0263574709005803_ref4","first-page":"379","volume-title":"First International Symposium on Systems and Control in Aerospace and Astronautics","author":"Xie","year":"2006"},{"key":"S0263574709005803_ref18","first-page":"1111","volume-title":"International Conference on Intelligent Robots and Systems, September 7\u201311","author":"Chocron","year":"1997"},{"volume-title":"Robot Manipulator: Mathematics, Programming and Control","year":"1981","author":"Paul","key":"S0263574709005803_ref1"},{"key":"S0263574709005803_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1086995"},{"key":"S0263574709005803_ref9","first-page":"2395","volume-title":"IEEE International Conference on Robotics and Automation","author":"Chen","year":"2001"},{"key":"S0263574709005803_ref28","first-page":"268","article-title":"Fuzzy model identification based on cluster estimation","volume":"2","author":"Chiu","year":"1994","journal-title":"J. Intell. Fuzzy Syst."},{"key":"S0263574709005803_ref23","first-page":"41","volume-title":"Proceedings of the 2nd International Conference Genetic Algorithms","author":"Goldberg","year":"1987"},{"key":"S0263574709005803_ref10","first-page":"271","volume-title":"IEEE International Conference on Robotics and Cybernetics","author":"Parker","year":"1989"},{"key":"S0263574709005803_ref29","unstructured":"29. Rudolph G. , \u201cEvolutioary Search Under Partially Ordered Sets,\u201d Technical Report No. CI-67\/99 (Dortmund, Germany: Department of Computer Science\/LS11, University of Dortmund)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709005803","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,9]],"date-time":"2025-02-09T18:04:22Z","timestamp":1739124262000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709005803\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,5,26]]},"references-count":31,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2010,7]]}},"alternative-id":["S0263574709005803"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709005803","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2009,5,26]]}}}