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A COMPARATIVE STUDY USING SHUFFLED COMPLEX EVOLUTION AND DIFFERENTIAL EVOLUTION APPLIED TO ROBOTIC MANIPULATOR DESIGN

Brandão, M.; Dorício, J. L.; Lobato, F. S.; Saramago, S. F. P.;

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In last decades, evolutionary approaches has been used extensively and demonstrated to be robust and efficient global optimization methods for engineering system design. Among these techniques, the Shuffled Complex Evolution (SCE) and the Differential Evolution algorithm (DE) are two good examples found in literature. DE differs from other evolutionary algorithms in the mutation and recombination phases. Unlike some meta-heuristic techniques such as genetic algorithms and evolutionary strategies, where perturbation occurs in accordance with a random quantity, DE uses weighted differences between solution vectors to perturb the population. In SCE a population of solutions is generated and partitioned into several sub-populations (called complexes). Each complex evolves independently using the DE algorithm for a set number of evolutions. The complexes are then shuffled thereby enabling exchange of information among them. If convergence is not reached, the population is again divided and a new set of evolutions for each new-found complex is carried out. In this work, is proposed a comparative study and a hybrid approach involving the SCE and the DE algorithms. The methodology proposed is applied to design of three-revolute (3R) manipulators using an optimization problem that takes into account the characteristics of the workspace. For this purpose, a multi-objective optimization problem is formulated to obtaining the optimal geometric parameters of robot. The maximum workspace volume, the maximum system stiffness and the optimum dexterity are considered as the multi-objective functions. The results show that the procedure represents a promising alternative for the type of problem presented above.

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Palavras-chave: Shuffled Complex Evolution, Differential Evolution, robotic manipulator design,

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DOI: 10.5151/meceng-wccm2012-18598

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Como citar:

Brandão, M.; Dorício, J. L.; Lobato, F. S.; Saramago, S. F. P.; "A COMPARATIVE STUDY USING SHUFFLED COMPLEX EVOLUTION AND DIFFERENTIAL EVOLUTION APPLIED TO ROBOTIC MANIPULATOR DESIGN", p. 1953-1968 . In: In Proceedings of the 10th World Congress on Computational Mechanics [= Blucher Mechanical Engineering Proceedings, v. 1, n. 1]. São Paulo: Blucher, 2014.
ISSN 2358-0828, DOI 10.5151/meceng-wccm2012-18598

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