MaxiMin MOPSO Design of Parallel Robotic Manipulators

• Type: Article in International Conference Proceedings Book
• Date: 2011

Authors

freire, h (Author) Other; oliveira, pbd (Author) Other; pires, ejs (Author) Other; lopes, am (Author) FEUP

Conference proceedings International

Title: SOFT COMPUTING MODELS IN INDUSTRIAL AND ENVIRONMENTAL APPLICATIONS, 6TH INTERNATIONAL CONFERENCE SOCO 2011

Pages: 339-347

6th International Conference on Soft Computing Models in Industrial and Environmental Applications

Salamanca, SPAIN, APR, 2011

Indexing

ISI Web of Knowledge - 4 Citations

Scopus - 4 Citations

Scientific classification

FOS: Natural sciences > Computer and information sciences

Other information

Authenticus ID: P-002-ZJ8

DOI: 10.1007/978-3-642-19644-7_36

Abstract (EN): A maximin multiobjective particle swarm optimization algorithm variant is presented, in the context of parallel robotic manipulator design. The choice of a particular structural configuration and its dimensioning is a central issue to the performance of these manipulators. A solution to the dimensioning problem, normally involves the definition of performance criteria as part of an optimization process. In this paper the kinematic design of a 6-dof parallel robotic manipulator is analyzed. Two dynamic performance criteria are formulated and non-dominated optimal solutions are found through a multi-objective particle swarm optimization algorithm. Preliminary simulation results are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 9