Solving the Forward Kinematics of the 3RPR Planar Parallel Manipulator using a Hybrid Meta-Heuristic Paradigm

Chandra R., Zhang M., Rolland L.

IEEE International Symposium on Computational Intelligence in Robotics and Automation, Daejeon, South Korea, 15 - 18 December 2009, pp.177-178 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Daejeon
  • Country: South Korea
  • Page Numbers: pp.177-178
  • Middle East Technical University Affiliated: Yes


The forward kinematic of the 3-RPR parallel manipulator is solved using a hybrid meta-heuristic technique where the simulated annealing algorithm replaces the mutation operator in a genetic algorithm. The results from the hybrid meta-heuristic approach is compared with the standard simulated annealing and genetic algorithm. The results show that the simulated annealing algorithm outperforms genetic algorithm in terms of computation time and overall accuracy of the solution. The hybrid meta-heuristic search algorithm shows better performance than the standard genetic algorithm.