TY - JOUR
T1 - Comparison between a Concurrent and a Sequential Optimization Methodology for Serial Manipulators Using Metaheuristics
AU - Ivvan Valdez, S.
AU - Botello-Aceves, Salvador
AU - Becerra, Hector M.
AU - Hernandez, Eusebio E.
N1 - Publisher Copyright:
© 2005-2012 IEEE.
PY - 2018/7
Y1 - 2018/7
N2 - A concurrent optimum design of a manipulator is to find the best geometrical and control parameters in the same optimization process. One of the main contributions of this paper is a concurrent method for optimum design and its comparison versus a sequential one, where the later requires several optimization stages. Besides, we statistically compare three metaheuristics: the Omnioptimizer, the covariance matrix adaptation evolutionary strategy, and the Boltzmann univariate marginal distribution algorithm for the two methodologies, in order to elucidate directions about which metaheuristic performs the best for this kind of problem, and whether it must be used in a sequential or concurrent fashion. These metaheuristics are compared with reported results in the specialized literature. In addition, we perform an analysis of results to statistically determine relations between the parameters and the objective function, as a consequence, we found the most impacting parameters to the manipulator performance.
AB - A concurrent optimum design of a manipulator is to find the best geometrical and control parameters in the same optimization process. One of the main contributions of this paper is a concurrent method for optimum design and its comparison versus a sequential one, where the later requires several optimization stages. Besides, we statistically compare three metaheuristics: the Omnioptimizer, the covariance matrix adaptation evolutionary strategy, and the Boltzmann univariate marginal distribution algorithm for the two methodologies, in order to elucidate directions about which metaheuristic performs the best for this kind of problem, and whether it must be used in a sequential or concurrent fashion. These metaheuristics are compared with reported results in the specialized literature. In addition, we perform an analysis of results to statistically determine relations between the parameters and the objective function, as a consequence, we found the most impacting parameters to the manipulator performance.
KW - Concurrent design
KW - design optimization
KW - evolutionary computation
KW - genetic algorithms (GA)
KW - optimization methods
KW - sequential design
UR - http://www.scopus.com/inward/record.url?scp=85040906853&partnerID=8YFLogxK
U2 - 10.1109/TII.2018.2795103
DO - 10.1109/TII.2018.2795103
M3 - Artículo
SN - 1551-3203
VL - 14
SP - 3155
EP - 3165
JO - IEEE Transactions on Industrial Informatics
JF - IEEE Transactions on Industrial Informatics
IS - 7
ER -