The positioning of the anchoring points of a Parallel Kinematic Manipulator has an important impact on its later performance. This paper presents an optimization problem to deal with the reconfiguration of a Parallel Kinematic manipulator with four degrees of freedom and the corresponding algorithms to address such problem, with the subsequent test on an actual robot. The cost function minimizes the forces applied by the actuators along the trajectory and considers singular positions and the feasibility of the active generalized coordinates. Results are compared among different algorithms, including evolutionary, heuristics, multi-strategy and gradient-based optimizers.

中文翻译：

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有限并行机器人的最佳重配置，可避免前向奇点

并联运动机械手的锚点的位置对其以后的性能有重要影响。本文提出了一个优化问题，以处理具有四个自由度的并联运动机械手的重新配置，并提出了解决该问题的相应算法，随后在实际机器人上进行了测试。成本函数将执行器沿轨迹施加的力最小化，并考虑奇异位置和主动广义坐标的可行性。比较了不同算法的结果，包括进化算法，启发式算法，多策略算法和基于梯度的优化器。