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Particle Swarm Optimization Algorithm vs Genetic Algorithm to Develop Integrated Scheme for Obtaining Optimal Mechanical Structure and Adaptive Controller of a Robot

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Figure

Figure 1. (a) A two degrees of freedom manipulator traversing a straight-line trajectory with torques applied at its joints; (b) load distributions on two links of the manipulator
Figure 2. A set-up of the 2-dof manipulator.
Figure 3. A schematic view representing working cycle of real-coded GA (that is, approach 1)
Figure 4. Flowchart of approach 2.
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