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

Authors:
Rohitash Chandra;Marcus Frean;Luc Rolland
Affiliations:
School of Engineering and Computer Science, Victoria University of Wellington, Wellington, New Zealand;School of Engineering and Computer Science, Victoria University of Wellington, Wellington, New Zealand;Middle East Technical University, Guzelyurt, Turkish Republic of Northern Cyprus
Venue:
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Year:
2009

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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.