Singularity Analysis and Comparative Study of Six Degree of Freedom Stewart Platform as a Robotic Arm
Ashwin Mishra et al. / International Journal of Engineering Science and Technology (IJEST)
SINGULARITY ANALYSIS AND COMPARITIVE STUDY OF SIX DEGREE OF FREEDOM STEWART PLATFORM AS A ROBOTIC ARM BY HEURISTIC ALGORITHMS AND SIMULATED ANNEALING
ASHWIN MISHRA
Department of Mechanical Engineering, Sardar Vallabhbhai National Institute of Technology, Surat 395007, Gujarat, India
DR. S. N. OMKAR
Department of Aerospace Engineering, Indian Institute of Science Bangalore 560012, Karnataka, India Abstract In this study singularity analysis of the six degree of freedom (DOF) Stewart Platform using the various heuristic methods in a specified design configuration has been carried out .The Jacobian matrix of the Stewart platform is obtained and the absolute value of the determinant of the Jacobian is taken as the objective function, and the least value of this objective function is fished in the reachable workspace of the Stewart platform so as to find the singular configurations. The singular configurations of the platform depend on the value of this objective function under consideration, if it is zero the configuration is singular. The results thus obtained by different methods namely the genetic algorithm, Particle Swarm optimization and variants and simulated annealing are compared with each other. The variable sets considered are the respective desirable platform motions in the form of translation and rotation in six degrees of freedom. This paper hence presents a proper comparative study of these algorithms based on the results that are obtained and highlights the advantage of each in terms of computational cost and accuracy. Keywords: Stewart Platform, parallel, manipulator, singularity, robotic, Genetic, particle swarm optimization, simulated annealing, quantum, weighted quantum. 1. Introduction
Automated manipulation and real time motion simulation in three dimensional spaces has been a challenge to the mankind for some time now. This motion simulation can be
SINGULARITY ANALYSIS AND COMPARITIVE STUDY OF SIX DEGREE OF FREEDOM STEWART PLATFORM AS A ROBOTIC ARM BY HEURISTIC ALGORITHMS AND SIMULATED ANNEALING
ASHWIN MISHRA
Department of Mechanical Engineering, Sardar Vallabhbhai National Institute of Technology, Surat 395007, Gujarat, India
DR. S. N. OMKAR
Department of Aerospace Engineering, Indian Institute of Science Bangalore 560012, Karnataka, India Abstract In this study singularity analysis of the six degree of freedom (DOF) Stewart Platform using the various heuristic methods in a specified design configuration has been carried out .The Jacobian matrix of the Stewart platform is obtained and the absolute value of the determinant of the Jacobian is taken as the objective function, and the least value of this objective function is fished in the reachable workspace of the Stewart platform so as to find the singular configurations. The singular configurations of the platform depend on the value of this objective function under consideration, if it is zero the configuration is singular. The results thus obtained by different methods namely the genetic algorithm, Particle Swarm optimization and variants and simulated annealing are compared with each other. The variable sets considered are the respective desirable platform motions in the form of translation and rotation in six degrees of freedom. This paper hence presents a proper comparative study of these algorithms based on the results that are obtained and highlights the advantage of each in terms of computational cost and accuracy. Keywords: Stewart Platform, parallel, manipulator, singularity, robotic, Genetic, particle swarm optimization, simulated annealing, quantum, weighted quantum. 1. Introduction
Automated manipulation and real time motion simulation in three dimensional spaces has been a challenge to the mankind for some time now. This motion simulation can be