A Meta-Heuristic Paradigm for solving the Forward Kinematics of 6-6 General Parallel Manipulator

Chandra R., Frean M., Rolland L.

IEEE International Symposium on Computational Intelligence in Robotics and Automation, Daejeon, South Korea, 15 - 18 December 2009, pp.171-172 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Daejeon
  • Country: South Korea
  • Page Numbers: pp.171-172
  • Middle East Technical University Affiliated: Yes


The forward kinematics of the general Gough platform, namely the 6-6 parallel manipulator is solved using hybrid meta-heuristic techniques in which the simulated annealing algorithm replaces the mutation operator in a genetic algorithm. The results are compared with the standard simulated annealing and genetic algorithm. It shows that the standard simulated annealing algorithm outperforms standard genetic algorithm in terms of computation time and overall accuracy of the solution on this problem. However, the hybrid meta-heuristic paradigm shows the best performance in terms of accuracy and success rate.