Solving the forward kinematics of the 3RPR planar parallel manipulator using a hybrid meta-heuristic paradigm

Authors:
Rohitash Chandra;Mengjie Zhang;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 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.