Structure-Control Design of a Parallel Robot Based on Multi-Objective Self-Adaptive Differential Evolution Algorithm
- 10.2991/emeit.2012.43How to use a DOI?
- Multi-objective optimization, differential evolution, dynamic optimization, parallel manipulator
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.
- © 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/).
Cite this article
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 -