On solving the forward kinematics of 3RPR planar parallel manipulator using hybrid metaheuristics

Rohitash Chandra, Luc Rolland

Research output: Contribution to journalArticle

14 Citations (Scopus)

Abstract

Hybrid metaheuristics have been applied with success in solving many real-world problems.This work introduces hybrid metaheuristics to the field of kinematics problem, in particular, for solving the forward kinematics of the 3RPR parallel manipulator. It implements a combination of genetic algorithms and simulated annealing into two popular hybrid metaheuristic techniques. They are combined as teamwork and relay collaborative hybrid metaheuristics and compared to the performance of genetic algorithms and simulated annealing alone. The results show that the meta-heuristic approaches give robust and
high quality solutions. Genetic algorithms and teamwork collaborative metaheuristics showed better performance than simulated annealing and relay collaborative metaheuristics.
The given metaheuristic methods obtain all the unique solutions and comparisons with algebraic methods show promising results.
Original languageEnglish
Pages (from-to)8997-9008
Number of pages12
JournalApplied Mathematics and Computation
Volume217
Issue number22
DOIs
Publication statusPublished - Jul 2011
Externally publishedYes

Keywords

  • Forward kinematics
  • Planar parallel manipulators
  • Real-coded genetic algorithm
  • Simulated annealing
  • Teamwork collaborative hybrid metaheuristics
  • Relay collaborative hybrid metaheuristics

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