Title :
Practical implementation of genetically designed computed-torque/fuzzy-logic controllers for robotic manipulators
Author :
Porter, B. ; Zadeh, N.N.
Author_Institution :
Dept. of Ind. & Manuf. Syst. Eng., Hong Kong Univ., Hong Kong
Abstract :
In this paper, experimental results are presented which were obtained by testing a practical direct-drive two-link robotic manipulator. In these tests, the trajectory-tracking performance of genetically optimized non-fuzzy computed-torque/PD controller is compared with that of two kinds of genetically designed computed-torque/fuzzy-logic controller. The experimental results are very encouraging and indicate that genetically designed computed-torque/fuzzy-logic controllers may be suitable for routine use with industrial robots
Keywords :
control system synthesis; fuzzy control; fuzzy set theory; genetic algorithms; industrial manipulators; manipulator dynamics; position control; time-domain analysis; tracking; computed-torque fuzzy-logic controllers; fuzzy set theory; genetic algorithm; industrial robots; time domain analysis; trajectory-tracking; two-link robotic manipulator; Fuzzy sets; Genetic algorithms; Manipulators; PD control; Proportional control; Robot control; Robust control; Service robots; Testing; Torque control;
Conference_Titel :
Fuzzy Systems, 1996., Proceedings of the Fifth IEEE International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3645-3
DOI :
10.1109/FUZZY.1996.551716
