Title :
Genetic inversion of robot dynamics for trajectory control
Author :
Porter, B. ; Mohamed, S.S.
Author_Institution :
Centre for Instrum. & Autom., Salford Univ., UK
Abstract :
The use of genetic algorithms to solve the dynamic plant inversion problem is discussed in the context of the inversion of robot dynamics for trajectory control. This discussion is illustrated by the presentation of numerical results for the genetic inversion of the dynamics of a typical three-degree-of-freedom robotic manipulator. It is pointed out that the same basic genetic inversion technique is applicable to desired trajectories specified either in joint space or task space
Keywords :
Adaptive control; Automatic control; Automatic generation control; Character generation; Genetic algorithms; Instruments; Manipulator dynamics; Orbital robotics; Robotics and automation; Robots;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.385028
