A PSO algorithm for mapping the workspace boundary of parallel manipulators

  title={A PSO algorithm for mapping the workspace boundary of parallel manipulators},
  author={Vincensius Billy Saputra and S. K. Ong and Andrew Y. C. Nee},
  journal={2010 IEEE International Conference on Robotics and Automation},
  • V. B. Saputra, S. Ong, A. Nee
  • Published 3 May 2010
  • Computer Science
  • 2010 IEEE International Conference on Robotics and Automation
This paper presents a novel method to determine the multi-dimensional workspace boundary of parallel manipulators using a modified Particle Swarm Optimization (MPSO) framework. A generic objective (fitness) function that gives optimum value at points where a manipulator reaches its limit is formulated. By finding these points using MPSO, the workspace boundary of a parallel manipulator can be constructed. To demonstrate the method, the mapping of the boundary of a Stewart platform workspace is… 

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