Title :
Solving the forward kinematics of the 3RPR planar parallel manipulator using a hybrid meta-heuristic paradigm
Author :
Chandra, Rohitash ; Zhang, Mengjie ; Rolland, Luc
Author_Institution :
Sch. of Eng. & Comput. Sci., Victoria Univ. of Wellington, Wellington, New Zealand
Abstract :
The forward kinematic of the 3-RPR parallel manipulator is solved using a hybrid meta-heuristic technique where the simulated annealing algorithm replaces the mutation operator in a genetic algorithm. The results from the hybrid meta-heuristic approach is compared with the standard simulated annealing and genetic algorithm. The results show that the simulated annealing algorithm outperforms genetic algorithm in terms of computation time and overall accuracy of the solution. The hybrid meta-heuristic search algorithm shows better performance than the standard genetic algorithm.
Keywords :
genetic algorithms; manipulator kinematics; simulated annealing; 3RPR planar parallel manipulator; forward kinematics; genetic algorithm; hybrid metaheuristic paradigm; simulated annealing algorithm; Computational modeling; Energy states; Genetic algorithms; Genetic mutations; Kinematics; Manipulators; Newton method; Nonlinear equations; Simulated annealing; Temperature distribution;
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
DOI :
10.1109/CIRA.2009.5423213
