Singularity analysis of the Stewart platform based on improved ant colony algorithm

Aiming at the singularity analysis of the Stewart platform, the determinant of the Jacobian matrix was selected as the objective function, and the continuous optimization problem was proposed in the workspace of parallel machine. By improving global searching, local searching and pheromone update rule, the novel ant colony algorithm had been presented for solving the continuous optimization problem. Then this method was applied to the singularity analysis of the Stewart platform. The results show that the improved algorithm has good ability of global optimization and fast convergence. This novel ant colony algorithm provides valuable reference for the problem like the singularity analysis of the parallel machine.