Please use this identifier to cite or link to this item:
|Title:||A PSO algorithm for mapping the workspace boundary of parallel manipulators||Authors:||Saputra, V.B.
Particle swarm optimization (PSO)
|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|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Dec 2, 2020
WEB OF SCIENCETM
checked on Nov 24, 2020
checked on Dec 1, 2020
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.