Structure-Control Design of a Parallel Robot Based on Multi-Objective Self-Adaptive Differential Evolution Algorithm

DOI

10.2991/emeit.2012.43How to use a DOI?

Keywords

Multi-objective optimization, differential evolution, dynamic optimization, parallel manipulator

Abstract

This paper presents a method based on a multi-objective self-adaptive differential evolution (MOSaDE) algorithm to improve the parametric reconfiguration feature in the optimal design of a parallel robot. We propose a MOSaDE algorithm, in which both trial vector generation strategies and their associated control parameter values are gradually self-adapted by learning from their previous experiences in generating promising solutions. Consequently, a more suitable generation strategy along with its parameter settings can be determined adaptively to match different phases of the search process. Furthermore, a constraint-handling mechanism is added to bias the search to the feasible region of the search space. The obtained solution will be a set of optimal geometric parameters and optimal PID control gains. The results obtained in a set of experiments performed mechatronic system show the effectiveness of the proposed approach.

Copyright

© 2012, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Qing Mei Meng
AU  - Hui Ping Sheng
AU  - Ruo Bin Zhong
AU  - Shi Yue Pan
PY  - 2012/09
DA  - 2012/09
TI  - Structure-Control Design of a Parallel Robot Based on Multi-Objective Self-Adaptive Differential Evolution Algorithm
BT  - Proceedings of the 2nd International Conference on Electronic & Mechanical Engineering and Information Technology (EMEIT 2012)
PB  - Atlantis Press
SP  - 219
EP  - 223
SN  - 1951-6851
UR  - https://doi.org/10.2991/emeit.2012.43
DO  - 10.2991/emeit.2012.43
ID  - Meng2012/09
ER  -