Chandra, Rohitash and Luc, R. (2015) Global – local population memetic algorithm for solving the forward kinematics of parallel manipulators. Connection Science, 27 . pp. 1-18. ISSN 0954-0091
Preview |
PDF
- Published Version
Download (298kB) | Preview |
Abstract
Memetic algorithms (MA) are evolutionary computation methods that employ local search to selected individuals of the population. This work presents global–local population MA for solving the forward kinematics of parallel manipulators. A real-coded generation algorithm with features of diversity is used in the global population and an evolutionary algorithm with parent-centric crossover operator which has local search features is used in the local population. The forward kinematics of the 3RPR and 6–6 leg manipulators are examined to test the performance of the proposed method. The results show that the proposed method improves the performance of the real-coded genetic algorithm and can obtain high-quality solutions similar to the previous methods for the 6–6 leg manipulator. The accuracy of the solutions and the optimisation time achieved by the methods in this work motivates for real-time implementation of the 3RPR parallel manipulator.
| Item Type: | Journal Article |
|---|---|
| Additional Information: | Published online and Print |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
| Divisions: | Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences |
| Depositing User: | Rohitash Chandra |
| Date Deposited: | 24 Sep 2014 00:15 |
| Last Modified: | 26 Apr 2016 02:36 |
| URI: | https://repository.usp.ac.fj/id/eprint/7632 |
Actions (login required)
 |
View Item |