DocumentCode
2056715
Title
Application of multiple fuzzy-neuro force controllers in an unknown environment using genetic algorithms
Author
Kiguchi, Kazuo ; Watanabe, Keigo ; Izumi, Kiyotaka ; Fukuda, Toshio
Author_Institution
Dept. of Mech. Eng., Saga Univ., Japan
Volume
3
fYear
2000
fDate
2000
Firstpage
2106
Abstract
This paper presents an effective force control method in which multiple fuzzy-neuro force controllers are suitably and automatically combined with a proper rate in accordance with the unknown dynamics of an environment. The optimal combination rate of the fuzzy-neuro force controllers according to the environment dynamics is defined online by a neural network which is off-line trained with genetic algorithms. The effectiveness of the proposed method has been evaluated by computer simulation
Keywords
adaptive control; force control; fuzzy control; fuzzy neural nets; genetic algorithms; neurocontrollers; robot dynamics; adaptive control; force control; fuzzy control; fuzzy neural network; genetic algorithms; neurocontrol; robot dynamics; Automatic control; Force control; Genetics; Humans; Jacobian matrices; Manipulator dynamics; Neural networks; Optimal control; Robot control; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846340
Filename
846340
Link To Document