Genetic Fuzzy Based Tracking Control of 3 DOF Robot Arm

Author

Alavandar, Srinivasan ; Nigam, M.J.

Author_Institution

Dept. of Electron. & Comput. Eng., Indian Inst. of Technol. Roorkee, Roorkee

fYear

2008

fDate

16-18 July 2008

Firstpage

547

Lastpage

552

Abstract

The essential problem in controlling robots is to make the manipulator follow a desired trajectory. This paper presents the genetic algorithm tuned fuzzy PID controller (GAFPID) to follow the desired trajectory for a three degree of freedom (DOF) robot arm. Numerical simulation using the dynamic model of three DOF robot arm shows the effectiveness of the approach in trajectory tracking problems. Comparative evaluation with respect to PD, PID and fuzzy PID controls are presented to validate the controller design. The results presented emphasize that a satisfactory tracking precision could be achieved using the proposed controller than conventional controller.

Keywords

control system analysis; control system synthesis; fuzzy control; genetic algorithms; manipulator dynamics; position control; three-term control; 3 DOF robot arm; PD controls; PID controller; genetic algorithm; genetic fuzzy based tracking control; manipulator; three degree of freedom robot arm; trajectory tracking; Fuzzy control; Fuzzy logic; Fuzzy sets; Genetic algorithms; Manipulators; Robot control; Service robots; Three-term control; Trajectory; Uncertainty; Degree of Freedom (DOF); Genetic Fuzzy systems; robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Trends in Engineering and Technology, 2008. ICETET '08. First International Conference on

Conference_Location

Nagpur, Maharashtra

Print_ISBN

978-0-7695-3267-7

Electronic_ISBN

978-0-7695-3267-7

Type

conf

DOI

10.1109/ICETET.2008.75

Filename

4579961