Structure-Control Design of a Parallel Robot Based on Multi-Objective Self-Adaptive Differential Evolution Algorithm
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.
Multi-objective optimization differential evolution dynamic optimization parallel manipulator
Meng Qing Mei Sheng Hui Ping Zhong Ruo Bin Pan Shi Yue
School of Mechanism Engineering,Changzhou,University Changzhou,213016,China
国际会议
沈阳
英文
219-223
2012-09-26（万方平台首次上网日期，不代表论文的发表时间）