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A multi-objective approach for constant-orientation singularity-free path planning for the 6-6 semi-regular Stewart platform manipulator (SRSPM) is presented in this paper. The concept of the singularity-free tube (SFT), which is described as a one-parametric family of singularity-free spheres, is utilised to ensure that the obtained paths are free of any gain-type singularities. Non-Dominated Sorting Genetic Algorithm (NSGA-II) is used to obtain a set of optimal paths connecting two given points while minimising its length and maximising its distance from the boundary of the SFT.

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Multi-objective Path Planning for the 6-6 Stewart Platform Manipulator Using the Singularity Free Tube

  • 会议论文

  • 发表日期：

    2026年

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  • Nishanth Adithya Chandramouli,
  • Aditya Mahesh Kolte,
  • Shashank Ramesh,
  • Sandipan Bandyopadhyay

摘要

A multi-objective approach for constant-orientation singularity-free path planning for the 6-6 semi-regular Stewart platform manipulator (SRSPM) is presented in this paper. The concept of the singularity-free tube (SFT), which is described as a one-parametric family of singularity-free spheres, is utilised to ensure that the obtained paths are free of any gain-type singularities. Non-Dominated Sorting Genetic Algorithm (NSGA-II) is used to obtain a set of optimal paths connecting two given points while minimising its length and maximising its distance from the boundary of the SFT.