Please use this identifier to cite or link to this item: https://doi.org/10.1109/ROBOT.2010.5509516
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dc.titleA PSO algorithm for mapping the workspace boundary of parallel manipulators
dc.contributor.authorSaputra, V.B.
dc.contributor.authorOng, S.K.
dc.contributor.authorNee, A.Y.C.
dc.date.accessioned2014-04-24T10:14:56Z
dc.date.available2014-04-24T10:14:56Z
dc.date.issued2010
dc.identifier.citationSaputra, 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
dc.identifier.isbn9781424450381
dc.identifier.issn10504729
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/51552
dc.description.abstractThis 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/ROBOT.2010.5509516
dc.sourceScopus
dc.subjectMultimodal optimization
dc.subjectParallel manipulator
dc.subjectParticle swarm optimization (PSO)
dc.subjectStewart platform
dc.subjectWorkspace boundary
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/ROBOT.2010.5509516
dc.description.sourcetitleProceedings - IEEE International Conference on Robotics and Automation
dc.description.page4691-4696
dc.description.codenPIIAE
dc.identifier.isiut000284150002099
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