A meta-heuristic paradigm for solving the forward kinematics of 6–6 general parallel manipulator

Author

Chandra, Rohitash ; Frean, Marcus ; Rolland, Luc

Author_Institution

Sch. of Eng. & Comput. Sci., Victoria Univ. of Wellington, Wellington, New Zealand

fYear

2009

Firstpage

171

Lastpage

176

Abstract

The forward kinematics of the general Gough platform, namely the 6-6 parallel manipulator is solved using hybrid meta-heuristic techniques in which the simulated annealing algorithm replaces the mutation operator in a genetic algorithm. The results are compared with the standard simulated annealing and genetic algorithm. It shows that the standard simulated annealing algorithm outperforms standard genetic algorithm in terms of computation time and overall accuracy of the solution on this problem. However, the hybrid meta-heuristic paradigm shows the best performance in terms of accuracy and success rate.

Keywords

genetic algorithms; manipulator kinematics; simulated annealing; 6-6 general parallel manipulator; forward kinematics; general Gough platform; genetic algorithm; meta-heuristic paradigm; mutation operator; simulated annealing algorithm; Computational modeling; Computer science; Genetic algorithms; Genetic mutations; Jacobian matrices; Kinematics; Leg; Newton method; Optimization methods; Simulated annealing;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation (CIRA), 2009 IEEE International Symposium on

Conference_Location

Daejeon

Print_ISBN

978-1-4244-4808-1

Electronic_ISBN

978-1-4244-4809-8

Type

conf

DOI

10.1109/CIRA.2009.5423212

Filename

5423212