Research Article
A Hybrid Strategy of Differential Evolution and Modified Particle Swarm Optimization for Numerical Solution of a Parallel Manipulator
Table 6
Simulation results for different situations with DEMPSO.
| | Number | Length of leg (mm) | Real pose | DEMPSO | | Fitness error | Time (sec) |
| | 1 | : 499.018 | : 5° | : 4.9999° | | | 0.081441 | | : 557.731 | : 12° | : 12.0000° | | | : 534.303 | : 517 mm | : 517.0000 | |
| | 2 | : 489.714 | : −3° | : −3.0000° | | | 0.135116 | | : 506.550 | : 6° | : 6.0000° | | | : 520.611 | : 492 mm | : 491.9999 | |
| | 3 | : 701.251 | : 13° | : 13.0000° | | | 0.087767 | | : 656.309 | : −18° | : −18.0000° | | | : 600.050 | : 641 mm | : 640.9999 | |
| | 4 | : 613.344 | : −12° | : −12.0000° | | | 0.099704 | | : 558.392 | : −7° | : −7.0000° | | | : 613.051 | : 583 mm | : 583.0001 | |
| | 5 | : 655.862 | : 16° | : 16.0000° | | | 0.116486 | | : 767.441 | : 19° | : 19.0001° | | | : 694.392 | : 695 mm | : 694.9999 | |
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