Please use this identifier to cite or link to this item: https://doi.org/10.1109/ROBOT.2010.5509516
Title: A PSO algorithm for mapping the workspace boundary of parallel manipulators
Authors: Saputra, V.B.
Ong, S.K. 
Nee, A.Y.C. 
Keywords: Multimodal optimization
Parallel manipulator
Particle swarm optimization (PSO)
Stewart platform
Workspace boundary
Issue Date: 2010
Citation: Saputra, V.B., Ong, S.K., Nee, A.Y.C. (2010). A PSO algorithm for mapping the workspace boundary of parallel manipulators. Proceedings - IEEE International Conference on Robotics and Automation : 4691-4696. ScholarBank@NUS Repository. https://doi.org/10.1109/ROBOT.2010.5509516
Abstract: This paper presents a novel method to determine the multi-dimensional workspace boundary of parallel manipulators using a modified Particle Swarm Optimization (MPSO) framework. A generic objective (fitness) function that gives optimum value at points where a manipulator reaches its limit is formulated. By finding these points using MPSO, the workspace boundary of a parallel manipulator can be constructed. To demonstrate the method, the mapping of the boundary of a Stewart platform workspace is presented. The generic objective function can be modified easily to include any number of parameters and constraints, and this allows the method to be adapted for solving the workspace boundary problem of other parallel manipulators. ©2010 IEEE.
Source Title: Proceedings - IEEE International Conference on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/51552
ISBN: 9781424450381
ISSN: 10504729
DOI: 10.1109/ROBOT.2010.5509516
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