On the use of Differential Evolution in the Trajectory Modeling of Parallel Architecture Robot

The advance of the computational recourses has encouraged the utilization of the optimization techniques in the solution of complex problems. Thus, become very attractive the possibility of to join the feature of natural optimization methods to one algorithm which allow to work with small populations and large reduction of computational time. The Differential Evolution (DE) is a simple evolutionary algorithm and it has these advantages. The most distinct feature of DE is to perturb individuals of a population by weighted difference between random individuals of the population. The simplicity, efficiency and robustness of the Differential Evolution in terms of easy implementation are demonstrated by an engineering problem. Thus, to demonstrate the algorithm potentiality the trajectory optimization of a parallel structure is shown and discussed. The procedure is used for optimize the trajectory of a parallel manipulator named as CaPaMan (Cassino Parallel Manipulator) by applying a performance criterion that includes the mechanical energy and total traveling time. The multi-objective function is minimizing by using Differential Evolution. The trajectory is modeling by cubic B-splines. The results are compared with those obtained using Genetic Algorithms.